CN108082107B - Information prompting method, device and computer readable storage medium - Google Patents
Information prompting method, device and computer readable storage medium Download PDFInfo
- Publication number
- CN108082107B CN108082107B CN201711370431.7A CN201711370431A CN108082107B CN 108082107 B CN108082107 B CN 108082107B CN 201711370431 A CN201711370431 A CN 201711370431A CN 108082107 B CN108082107 B CN 108082107B
- Authority
- CN
- China
- Prior art keywords
- pedestrian
- vehicle
- probability
- collision
- information
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000003860 storage Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000008569 process Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 63
- 230000007613 environmental effect Effects 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims 1
- 230000002633 protecting effect Effects 0.000 abstract description 11
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 206010039203 Road traffic accident Diseases 0.000 description 6
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012706 support-vector machine Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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
- B60R21/0134—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
-
- 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
Abstract
The invention discloses a kind of information prompting method, device and computer readable storage mediums, belong to Vehicle Engineering technical field.Applied in vehicle, which comprises carry out pedestrian detection in the vehicle travel process；When detecting at least one pedestrian, probable range belonging to the determining probability with each pedestrian collision at least one described pedestrian；When being greater than or equal to predetermined probabilities threshold value with the minimum value of probable range belonging to the probability of any pedestrian collision at least one described pedestrian, information reminding is carried out.The present invention is after detecting at least one pedestrian; determine the probable range of the probability of each pedestrian collision in vehicle and at least one pedestrian; and the minimum value of the probable range belonging to the probability of vehicle and any pedestrian collision is when being greater than or equal to predetermined probabilities threshold value; carry out information reminding; to realize the early warning before collision; a possibility that reducing vehicle and pedestrian collision, improves the protecting effect to pedestrian.
Description
Technical field
The present invention relates to Vehicle Engineering technical field, in particular to a kind of information prompting method, device and computer-readable
Storage medium.
Background technique
With the development and improvement of living standard of social progress, science and technology, automobile is handed over as the important trip of people
Logical tool, which has begun, enters into average family.But consequent is that more and more pedestrians because of traffic accident cause injures and deaths.Cause
This generally requires to carry out protection operation to pedestrian for the bring injures and deaths that cut down traffic accidents.Currently, vehicle is carrying out pedestrian protecting
When operation, usually vehicle is after colliding pedestrian, when detecting the pressure of collision pedestrian, passes through pop-up vehicle headstock installation
External airbag, to slow down the injury to pedestrian.It but is in the prior art to collide to the method for pedestrian protecting
It carries out later, when colliding more strong, external airbag possibly can not be effectively protected pedestrian, can equally bring to pedestrian
Great bodily injury, therefore, need it is a kind of before colliding remind driver there are the information prompting methods of risk of collision.
Summary of the invention
The embodiment of the invention provides a kind of information prompting method, device and computer readable storage mediums, for solving
Driver can not be reminded before colliding in the related technology, the problem of pedestrian protecting effect difference.The technical side
Case is as follows:
In a first aspect, providing a kind of information prompting method, it is applied in vehicle, which comprises
Pedestrian detection is carried out in the vehicle travel process；
When detecting at least one pedestrian, the determining probability with each pedestrian collision at least one described pedestrian
Affiliated probable range；
When big with the minimum value of probable range belonging to the probability of any pedestrian collision at least one described pedestrian
When predetermined probabilities threshold value, information reminding is carried out.
It is optionally, described that pedestrian detection is carried out in the vehicle travel process, comprising:
By mobile unit and road furniture, the environmental information that the vehicle is presently in position is obtained；
From the environmental information, at least one described pedestrian is detected.
Optionally, probability model belonging to probability of the determination with each pedestrian collision at least one described pedestrian
It encloses, comprising:
Determine the mobile message of each pedestrian and the driving information of the vehicle at least one described pedestrian；
Based on the mobile message of each pedestrian at least one described pedestrian and the driving information of the vehicle, determining and institute
State probable range belonging to the probability of each pedestrian collision at least one pedestrian.
Optionally, at least one described pedestrian the mobile message of each pedestrian include the position of pedestrian, moving direction and
Movement speed, the driving information of the vehicle include the driving direction and travel speed of the vehicle；
It is described based on the mobile message of each pedestrian at least one described pedestrian and the driving information of the vehicle, determine
With probable range belonging to the probability of each pedestrian collision at least one described pedestrian, comprising:
Based on position, moving direction and the movement speed of each pedestrian, the motion track of each pedestrian is determined；
Driving direction and travel speed based on the vehicle, determine the driving trace of the vehicle；
The driving trace of motion track and the vehicle based on each pedestrian, it is determining to occur with each pedestrian
Probable range belonging to the probability of collision.
Optionally, the driving trace of the motion track based on each pedestrian and the vehicle, it is determining with it is described
Probable range belonging to the probability of each pedestrian collision, comprising:
Determine the traveling rail that whether there is motion track and the vehicle at least one described pedestrian in preset duration
The target pedestrian of mark intersection；
As the target pedestrian intersected with the driving trace of the vehicle at least one described pedestrian there are motion track,
Determine that probable range belonging to the vehicle and the probability of the target pedestrian collision is the first predetermined probabilities range；
When there is no the target pedestrians that motion track intersects with the driving trace of the vehicle at least one described pedestrian
When, determine that probable range belonging to the probability of any pedestrian collision is second in the vehicle and at least one described pedestrian
Predetermined probabilities range.
Optionally, at least one described pedestrian the mobile message of each pedestrian include pedestrian position, the vehicle
Driving information includes the driving direction of the vehicle；
It is described based on the mobile message of each pedestrian at least one described pedestrian and the driving information of the vehicle, determine
With probable range belonging to the probability of each pedestrian collision at least one described pedestrian, comprising:
Based on the position of each pedestrian at least one described pedestrian, determine between each pedestrian and the vehicle
Distance, and determine whether each pedestrian is located in the driving direction of the vehicle；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and it is described
When the distance between target pedestrian and the vehicle are less than or equal to pre-determined distance, the vehicle and the target line human hair are determined
Probable range belonging to the probability of raw collision is third predetermined probabilities range；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and it is described
When the distance between target pedestrian and the vehicle are greater than the pre-determined distance, determine that the vehicle and the target line human hair are raw
Probable range belonging to the probability of collision is the 4th predetermined probabilities range.
Optionally, the carry out information reminding, comprising:
Display or play cuing information, the prompt information be used for prompt the vehicle to collide probability belonging to it is general
Rate range；Alternatively,
The speed of the vehicle is adjusted to pre-set velocity threshold value；Alternatively,
Carry out vehicle breaking operation.
Second aspect provides a kind of information reminding device, is applied in vehicle, described device includes:
Detection module, for carrying out pedestrian detection in the vehicle travel process；
Determining module, for when detecting at least one pedestrian, determining and each pedestrian at least one described pedestrian
Probable range belonging to the probability to collide；
Reminding module, for working as probability model belonging to the probability with any pedestrian collision at least one described pedestrian
When the minimum value enclosed is greater than or equal to predetermined probabilities threshold value, information reminding is carried out.
Optionally, the detection module includes:
Acquisition submodule, for obtaining the environment that the vehicle is presently in position by mobile unit and road furniture
Information；
Detection sub-module, for from the environmental information, detecting at least one described pedestrian.
Optionally, the determining module includes:
First determines submodule, for determining the mobile message and the vehicle of each pedestrian at least one described pedestrian
Driving information；
Second determines submodule, for mobile message and the vehicle based on each pedestrian at least one described pedestrian
Driving information, probable range belonging to the determining probability with each pedestrian collision at least one described pedestrian.
Optionally, at least one described pedestrian the mobile message of each pedestrian include the position of pedestrian, moving direction and
Movement speed, the driving information of the vehicle include the driving direction and travel speed of the vehicle；
Described second determines that submodule is used for:
Based on position, moving direction and the movement speed of each pedestrian, the motion track of each pedestrian is determined；
Driving direction and travel speed based on the vehicle, determine the driving trace of the vehicle；
The driving trace of motion track and the vehicle based on each pedestrian, it is determining to occur with each pedestrian
Probable range belonging to the probability of collision.
Optionally, described second determine that submodule is used for:
Determine the traveling rail that whether there is motion track and the vehicle at least one described pedestrian in preset duration
The target pedestrian of mark intersection；
As the target pedestrian intersected with the driving trace of the vehicle at least one described pedestrian there are motion track,
Determine that probable range belonging to the vehicle and the probability of the target pedestrian collision is the first predetermined probabilities range；
When there is no the target pedestrians that motion track intersects with the driving trace of the vehicle at least one described pedestrian
When, determine that probable range belonging to the probability of any pedestrian collision is second in the vehicle and at least one described pedestrian
Predetermined probabilities range.
Optionally, at least one described pedestrian the mobile message of each pedestrian include pedestrian position, the vehicle
Driving information includes the driving direction of the vehicle；
Described second determines that submodule is used for:
Based on the position of each pedestrian at least one described pedestrian, determine between each pedestrian and the vehicle
Distance, and determine whether each pedestrian is located in the driving direction of the vehicle；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and it is described
When the distance between target pedestrian and the vehicle are less than or equal to pre-determined distance, the vehicle and the target line human hair are determined
Probable range belonging to the probability of raw collision is third predetermined probabilities range；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and it is described
When the distance between target pedestrian and the vehicle are greater than the pre-determined distance, determine that the vehicle and the target line human hair are raw
Probable range belonging to the probability of collision is the 4th predetermined probabilities range.
Optionally, the reminding module includes:
Prompting submodule, for display or play cuing information, the prompt information is for prompting the vehicle to touch
Probable range belonging to the probability hit；Alternatively,
Submodule is adjusted, for the speed of the vehicle to be adjusted to pre-set velocity threshold value；Alternatively,
Control submodule, for carrying out vehicle breaking operation.
The third aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes method described in above-mentioned first aspect when being executed by processor.
Technical solution provided in an embodiment of the present invention has the benefit that
In embodiments of the present invention, vehicle can carry out pedestrian detection in the process of moving, and detect at least one
After pedestrian, the probable range of the probability of each pedestrian collision in vehicle and at least one pedestrian is determined, and when vehicle and be somebody's turn to do
The minimum value of probable range belonging to the probability of any pedestrian collision is greater than or equal to predetermined probabilities at least one pedestrian
When threshold value, information reminding is carried out, thus a possibility that realizing the early warning before collision, reducing vehicle and pedestrian collision,
Improve the protecting effect to pedestrian.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of flow chart of information prompting method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another information prompting method provided in an embodiment of the present invention；
Fig. 3 A is a kind of structural schematic diagram of information reminding device provided in an embodiment of the present invention；
Fig. 3 B is a kind of structural schematic diagram of detection module provided in an embodiment of the present invention；
Fig. 3 C is a kind of structural schematic diagram of determining module provided in an embodiment of the present invention；
Fig. 3 D is a kind of structural schematic diagram of reminding module provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of vehicle provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene is explained.
Currently, also increasingly being paid close attention to due to the frequent generation of traffic accident the protection of pedestrian.But in the related technology,
It is only capable of the external airbag installed after vehicle and pedestrian collision by vehicle headstock, slows down the injury to pedestrian, when
When colliding strong, great bodily injury can be equally brought to pedestrian, do not played the role of protecting pedestrian, led to pedestrian protecting effect
Difference.
Based on such scene, can be improved pedestrian protecting effect the embodiment of the invention provides one kind, and with pedestrian
Remind driver that there are the information prompting methods of risk of collision before colliding.
It, next will be in conjunction with attached drawing to the embodiment of the present invention after the application scenarios to the embodiment of the present invention are introduced
The information prompting method of offer describes in detail.
Fig. 1 is a kind of flow chart of information prompting method provided in an embodiment of the present invention, and referring to Fig. 1, this method is applied to
In vehicle, include the following steps.
Step 101: pedestrian detection is carried out in the vehicle travel process.
Step 102: when detecting at least one pedestrian, each pedestrian collision in determining and at least one pedestrian
Probability belonging to probable range.
Step 103: when with probable range belonging to the probability of any pedestrian collision at least one pedestrian most
When small value is greater than or equal to predetermined probabilities threshold value, information reminding is carried out.
In embodiments of the present invention, vehicle can carry out pedestrian detection in the process of moving, and detect at least one
After pedestrian, the probable range of the probability of each pedestrian collision in vehicle and at least one pedestrian is determined, and when vehicle and be somebody's turn to do
The minimum value of probable range belonging to the probability of any pedestrian collision is greater than or equal to predetermined probabilities at least one pedestrian
When threshold value, information reminding is carried out, thus a possibility that realizing the early warning before collision, reducing vehicle and pedestrian collision,
Improve the protecting effect to pedestrian.
Optionally, pedestrian detection is carried out in the vehicle travel process, comprising:
By mobile unit and road furniture, the environmental information that the vehicle is presently in position is obtained；
From the environmental information, at least one pedestrian is detected.
Optionally it is determined that probable range belonging to probability with each pedestrian collision at least one pedestrian, packet
It includes:
Determine the driving information of the mobile message He the vehicle of each pedestrian at least one pedestrian；
The driving information of mobile message and the vehicle based on each pedestrian at least one pedestrian, determines with this at least
Probable range belonging to the probability of each pedestrian collision in one pedestrian.
Optionally, at least one pedestrian the mobile message of each pedestrian include pedestrian position, moving direction and shifting
Dynamic speed, the driving information of the vehicle includes the driving direction and travel speed of the vehicle；
The driving information of mobile message and the vehicle based on each pedestrian at least one pedestrian, determines with this at least
Probable range belonging to the probability of each pedestrian collision in one pedestrian, comprising:
Position, moving direction and movement speed based on each pedestrian, determine the motion track of each pedestrian；
Driving direction and travel speed based on the vehicle, determine the driving trace of the vehicle；
The driving trace of motion track and the vehicle based on each pedestrian, it is determining with each pedestrian collision's
Probable range belonging to probability.
Optionally, the driving trace of motion track and the vehicle based on each pedestrian is determined and is sent out with each pedestrian
Probable range belonging to the probability of raw collision, comprising:
Determine the driving trace phase that whether there is motion track and the vehicle at least one pedestrian in preset duration
The target pedestrian of friendship；
As the target pedestrian intersected with the driving trace of the vehicle at least one pedestrian there are motion track, determine
Probable range belonging to the vehicle and the probability of target pedestrian collision is the first predetermined probabilities range；
When the target pedestrian that motion track intersects with the driving trace of the vehicle is not present at least one pedestrian, really
Probable range belonging to probability of the fixed vehicle with any pedestrian collision at least one pedestrian is the second predetermined probabilities
Range.
Optionally, at least one pedestrian the mobile message of each pedestrian include pedestrian position, the traveling of the vehicle
Information includes the driving direction of the vehicle；
The driving information of mobile message and the vehicle based on each pedestrian at least one pedestrian, determines with this at least
Probable range belonging to the probability of each pedestrian collision in one pedestrian, comprising:
Based on the position of each pedestrian at least one pedestrian, the distance between each pedestrian and the vehicle are determined,
And determine whether each pedestrian is located in the driving direction of the vehicle；
As the target pedestrian being located at least one pedestrian there are position in the driving direction of the vehicle, and the target line
When the distance between people and the vehicle are less than or equal to pre-determined distance, the probability of the vehicle Yu target pedestrian collision is determined
Affiliated probable range is third predetermined probabilities range；
As the target pedestrian being located at least one pedestrian there are position in the driving direction of the vehicle, and the target line
When the distance between people and the vehicle are greater than the pre-determined distance, determine belonging to the vehicle and the probability of target pedestrian collision
Probable range be the 4th predetermined probabilities range.
Optionally, information reminding is carried out, comprising:
Display or play cuing information, the prompt information be used for prompt the vehicle to collide probability belonging to probability model
It encloses；Alternatively,
The speed of the vehicle is adjusted to pre-set velocity threshold value；Alternatively,
Carry out vehicle breaking operation.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
Fig. 2 is a kind of flow chart of information prompting method provided in an embodiment of the present invention, and referring to fig. 2, this method includes such as
Lower step.
Step 201: vehicle carries out pedestrian detection in the process of moving.
Wherein, in order to guarantee pedestrains safety, vehicle needs to carry out pedestrian detection in the process of moving, whether to determine surrounding
There are pedestrians.And the operation that vehicle carries out pedestrian detection in the process of moving can be with are as follows: by mobile unit and road furniture, obtains
The vehicle is taken to be presently in the environmental information of position；From the environmental information, at least one pedestrian is detected.
It should be noted that mobile unit may include the various kinds of sensors of vehicle installation, it is radar, infrared facility, complete
Scape camera etc..Road furniture may include Road Detection device, road camera etc..
It, may since vehicle passes through the mobile units such as sensor, radar, the infrared ray of installation when carrying out pedestrian detection
Because surrounding vehicles obstruction or other reasons cause pedestrian detection inaccurate.Therefore, in order to improve the accuracy of pedestrian detection, road
Pipeline equipment can acquire the environmental information of surrounding, and be communicated with the vehicle in communication range, by collected environmental information
It is sent to vehicle, so that vehicle can obtain more complete and accurate environmental information according to mobile unit and road furniture.Again
Since traffic accident generally occurs on vehicle heading under normal conditions, vehicle can pass through mobile unit and road
Equipment acquires the environmental information on vehicle heading.It is vehicle-mounted to set meanwhile for the ease of carrying out pedestrian detection from environmental information
The environmental information of standby and road furniture acquisition is usually to be presented with image format, and vehicle can detect at least from the image of acquisition
One pedestrian.
Wherein, the operation that vehicle detects at least one pedestrian from the image of acquisition can be with are as follows: passes through the side of filtering processing
Noise and noise interference in the image of method removal acquisition, then pass through method for testing motion, shape detecting method or region threshold
Value method, from extracting area-of-interest in treated image；Using preset pedestrian's detection of classifier area-of-interest, obtain
Pedestrian into area-of-interest.
It should be noted that the area-of-interest part of pedestrian can not occur for removal in acquired image
Remaining region later, for example, the sky and ground scene that are shown in removal image, to obtain the area-of-interest of pedestrian.
In addition, preset pedestrian's classifier is the classification that can accurately determine pedestrian from image of precondition
Device, pedestrian's classifier can for Adaboost iterative algorithm classifier, SVM (SupportVector Machine, support to
Amount machine) classifier etc..
Step 202: determining to occur with pedestrian each at least one pedestrian when vehicle detection is at least one pedestrian
Probable range belonging to the probability of collision.
Although at least one pedestrian is possible can't be with vehicle since vehicle can detecte at least one pedestrian
It collides, may also can collide certainly because of the position that pedestrian is presently in vehicle, it is also possible to can be because of the movement of pedestrian
It collides with vehicle.It that is to say, vehicle can lead to vehicle and every because of the influence of the factors such as position, the motion state of pedestrian
A possibility that a pedestrian collision, is not identical.Therefore, in order to guarantee pedestrains safety, vehicle with each pedestrian it needs to be determined that occur
A possibility that collision, the possibility can usually indicate by the probable range of vehicle and the probability of each pedestrian collision,
Therefore, vehicle is it needs to be determined that probable range belonging to probability with each pedestrian collision at least one pedestrian.
Wherein, vehicle determines and probable range belonging to the probability of each pedestrian collision at least one pedestrian
Operation can be with are as follows: determines the driving information of the mobile message He the vehicle of each pedestrian at least one pedestrian；Extremely based on this
The mobile message of each pedestrian and the driving information of the vehicle in a few pedestrian, determination and each row at least one pedestrian
Probable range belonging to the probability that people collides.
It should be noted that the mobile message of each pedestrian can pass through mobile unit and road at least one pedestrian
Transit equipment collects, and the driving information of the vehicle can be collected by the mobile unit of vehicle.At least one row
The mobile message of each pedestrian may include at least one of position, moving direction and movement speed of pedestrian, the vehicle in people
Driving information may include at least one of driving direction and travel speed of vehicle.
In addition, since vehicle may detect at least one pedestrian in locating lane, it is also possible to detect and be located at
At least one pedestrian except lane, therefore, mobile message and vehicle of the vehicle based on each pedestrian at least one pedestrian
Driving information, the case where probable range belonging to the determining probability with each pedestrian collision at least one pedestrian, can
To include the following two kinds situation.
The first situation, when the mobile message of each pedestrian at least one pedestrian includes position, the movement side of pedestrian
To and movement speed, when the driving information of the vehicle includes the driving direction and travel speed of the vehicle, vehicle be based on each row
Position, moving direction and the movement speed of people, determines the motion track of each pedestrian；Driving direction and traveling based on the vehicle
Speed determines the driving trace of the vehicle；The driving trace of motion track and vehicle based on each pedestrian determines each with this
Probable range belonging to the probability of pedestrian collision.
It may collide with vehicle since pedestrian is presently in position, it is also possible to will not collide, when pedestrian works as
When the possibility that front position does not collide with vehicle, since pedestrian may be not in stationary state but in mobile shape
State, pedestrian may be due to mobile and vehicle collision.Therefore, vehicle it needs to be determined that each pedestrian motion profile and vehicle
Driving trace, and the driving trace of the motion profile based on each pedestrian and vehicle, determine vehicle and each pedestrian collision
Probability probable range.
Wherein, vehicle can obtain each pedestrian from current by the movement speed of each pedestrian multiplied by specified mobile duration
Position starts, and mobile distance is carried out according to current moving direction, by each pedestrian in the direction of movement according to mobile distance
Carrying out the route determination formed after movement is motion profile of each pedestrian in specified mobile duration.Vehicle is by the traveling of vehicle
Speed obtains the distance that vehicle is sailed according to the enterprising every trade in current driving direction, by vehicle in traveling side multiplied by specified traveling duration
The route determination formed after being travelled upwards according to the distance of traveling is vehicle in the specified driving trace driven in duration.
It should be noted that the specified mobile duration can be arranged in advance, for example, the specified mobile duration can be 20
Second, 30 seconds etc., which can be equally arranged in advance, for example, the specified traveling duration can be 20 seconds, 30 seconds
Etc..
In addition, the driving trace of the vehicle motion track based on each pedestrian and the vehicle, determining to occur with each pedestrian
The operation of probable range belonging to the probability of collision can be with are as follows: determines in preset duration at least one pedestrian with the presence or absence of moving
The target pedestrian that dynamic rail mark intersects with the driving trace of the vehicle；When there are motion tracks and the vehicle at least one pedestrian
Driving trace intersection target pedestrian when, determine that probable range belonging to probability of the vehicle with target pedestrian collision is
First predetermined probabilities range；When there is no the targets that motion track intersects with the driving trace of the vehicle at least one pedestrian
When pedestrian, determine that probable range belonging to the probability of any pedestrian collision is second pre- in the vehicle and at least one pedestrian
If probable range.
It should be noted that the preset duration can be set, for example, the preset duration can be 5 seconds, 10 seconds etc..It should
First predetermined probabilities range can be arranged in advance, for example, the first predetermined probabilities range is more than or equal to 60%, is greater than or waits
In 50% etc..Second predetermined probabilities range can be equally arranged in advance, for example, second predetermined probabilities may range from being greater than
Or be equal to 30% and less than 50%, be greater than or equal to 40% and less than 60% etc..
Second situation, when the mobile message of each pedestrian at least one pedestrian includes the position of pedestrian, the vehicle
Driving information when including the driving direction of the vehicle, vehicle can based on the position of each pedestrian at least one pedestrian,
It determines the distance between each pedestrian and vehicle, and determines whether each pedestrian is located in the driving direction of the vehicle；When this
The target pedestrian being located at least one pedestrian there are position in the driving direction of the vehicle, and between target pedestrian and vehicle
Distance when being less than or equal to pre-determined distance, determine probable range belonging to the probability of the vehicle and target pedestrian collision
For third predetermined probabilities range；When the target line being located at least one pedestrian there are position in the driving direction of the vehicle
People, and the distance between target pedestrian and the vehicle be greater than the pre-determined distance when, determine that vehicle-to-target pedestrian touches
Probable range belonging to the probability hit is the 4th predetermined probabilities range.
It should be noted that the third predetermined probabilities range can be arranged in advance, for example, the third predetermined probabilities range is
More than or equal to 90%, more than or equal to 80% etc..4th predetermined probabilities range can be equally arranged in advance, for example, this
Four predetermined probabilities may range from being greater than or equal to 50% and less than 80%, be greater than or equal to 60% and less than 90% etc..
Due to when being located at the target pedestrian in the driving direction of the vehicle at least one pedestrian there are position, explanation
Target pedestrian and vehicle have the possibility of collision, and the distance between target pedestrian and vehicle are less than or equal to pre-determined distance
When, illustrate that the distance between vehicle-to-target pedestrian is very close, the probability to collide is very high, therefore, it is generally the case that the
Three predetermined probabilities may range from being greater than or equal to 90%, be greater than or equal to 80% etc..And when target pedestrian and the vehicle
The distance between when being greater than the pre-determined distance, although illustrate target pedestrian in the driving direction of vehicle, due to vehicle and
Pedestrian is apart from each other, and pedestrian's having time moves, and the same having time of the driver of vehicle is slowed down, thus collide
Probability is lower, therefore, the 4th predetermined probabilities range be typically greater than or equal to 50% and less than 80%, be greater than or equal to
60% and less than 90% etc..
Step 203: the probable range belonging to the probability of any pedestrian collision in vehicle and at least one pedestrian
Minimum value be greater than or equal to predetermined probabilities threshold value when, carry out information reminding.
As working as probable range belonging to the probability of any pedestrian collision in vehicle and at least one pedestrian most
When small value is greater than or equal to predetermined probabilities threshold value, illustrate that a possibility that colliding between vehicle and pedestrian is very high, if not right
Driver remind and is likely to cause traffic accident, and therefore, in order to avoid traffic accident generation, vehicle can carry out information
It reminds.And the operation that vehicle carries out information reminding can be with are as follows: display or play cuing information, the prompt information is for prompting vehicle
Probable range belonging to the probability to collide；Alternatively, the speed of the vehicle is adjusted to pre-set velocity threshold value；Alternatively, carrying out
Vehicle breaking operation.
Wherein, vehicle is during display or play cuing information, in order to further guarantee that pedestrains safety avoids sending out
Raw collision, vehicle may also be performed simultaneously the operation that the speed of the vehicle is adjusted to pre-set velocity threshold value, alternatively, carrying out vehicle
Brake operating.
It should be noted that the predetermined probabilities threshold value can be arranged in advance, for example, the predetermined probabilities threshold value can be
80%, 85% etc..The pre-set velocity threshold value can be equally arranged in advance, for example, the pre-set velocity threshold value can for 5 kms/
Hour, 3,000 ms/h.
In embodiments of the present invention, vehicle can be after detecting at least one pedestrian, according at least one pedestrian
The mobile message of each pedestrian and the driving information of vehicle determine each pedestrian collision in vehicle and at least one pedestrian
The probable range of probability, and the probable range belonging to the probability of any pedestrian collision in vehicle and at least one pedestrian
Minimum value be greater than or equal to predetermined probabilities threshold value when, carry out information reminding, thus realize collision before early warning, reduce vehicle
And a possibility that pedestrian collision, improve the protecting effect for pedestrian.
After information prompting method provided in an embodiment of the present invention is explained, next, to of the invention real
The information reminding device for applying example offer is introduced.
Fig. 3 A is a kind of block diagram for information reminding device that the embodiment of the present disclosure provides, referring to Fig. 3 A, information reminding dress
Setting being implemented in combination with by software, hardware or both.The device is applied in vehicle, comprising: detection module 301 determines
Module 302 and reminding module 303.
Detection module 301, for carrying out pedestrian detection in the vehicle travel process；
Determining module 302, for when detecting at least one pedestrian, determining and each row at least one described pedestrian
Probable range belonging to the probability that people collides；
Reminding module 303, it is general belonging to the probability with any pedestrian collision at least one described pedestrian for working as
When the minimum value of rate range is greater than or equal to predetermined probabilities threshold value, information reminding is carried out.
Optionally, referring to Fig. 3 B, the detection module 301 includes:
Acquisition submodule 3011, for obtaining the vehicle and being presently in position by mobile unit and road furniture
Environmental information；
Detection sub-module 3012, for from the environmental information, detecting at least one described pedestrian.
Optionally, referring to Fig. 3 C, the determining module 302 includes:
First determines submodule 3021, for determining at least one described pedestrian the mobile message of each pedestrian and described
The driving information of vehicle；
Second determines submodule 3022, for mobile message based on each pedestrian at least one described pedestrian and described
Probable range belonging to the probability of each pedestrian collision in the driving information of vehicle, determination and at least one described pedestrian.
Optionally, at least one described pedestrian the mobile message of each pedestrian include the position of pedestrian, moving direction and
Movement speed, the driving information of the vehicle include the driving direction and travel speed of the vehicle；
Described second determines that submodule 3022 is used for:
Based on position, moving direction and the movement speed of each pedestrian, the motion track of each pedestrian is determined；
Driving direction and travel speed based on the vehicle, determine the driving trace of the vehicle；
The driving trace of motion track and the vehicle based on each pedestrian, it is determining to occur with each pedestrian
Probable range belonging to the probability of collision.
Optionally, described second determine that submodule 3022 is used for:
Determine the traveling rail that whether there is motion track and the vehicle at least one described pedestrian in preset duration
The target pedestrian of mark intersection；
As the target pedestrian intersected with the driving trace of the vehicle at least one described pedestrian there are motion track,
Determine that probable range belonging to the vehicle and the probability of the target pedestrian collision is the first predetermined probabilities range；
When there is no the target pedestrians that motion track intersects with the driving trace of the vehicle at least one described pedestrian
When, determine that probable range belonging to the probability of any pedestrian collision is second in the vehicle and at least one described pedestrian
Predetermined probabilities range.
Optionally, at least one described pedestrian the mobile message of each pedestrian include pedestrian position, the vehicle
Driving information includes the driving direction of the vehicle；
Described second determines that submodule 3022 is used for:
Based on the position of each pedestrian at least one described pedestrian, determine between each pedestrian and the vehicle
Distance, and determine whether each pedestrian is located in the driving direction of the vehicle；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and it is described
When the distance between target pedestrian and the vehicle are less than or equal to pre-determined distance, the vehicle and the target line human hair are determined
Probable range belonging to the probability of raw collision is third predetermined probabilities range；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and it is described
When the distance between target pedestrian and the vehicle are greater than the pre-determined distance, determine that the vehicle and the target line human hair are raw
Probable range belonging to the probability of collision is the 4th predetermined probabilities range.
Optionally, referring to Fig. 3 D, the reminding module 303 includes:
Prompting submodule 3031, for display or play cuing information, the prompt information is for prompting the vehicle to send out
Probable range belonging to the probability of raw collision；Alternatively,
Submodule 3032 is adjusted, for the speed of the vehicle to be adjusted to pre-set velocity threshold value；Alternatively,
Control submodule 3033, for carrying out vehicle breaking operation.
In conclusion in embodiments of the present invention, vehicle can after detecting at least one pedestrian, according to this at least one
The driving information of the mobile message and vehicle of each pedestrian in a pedestrian determines that each pedestrian sends out in vehicle and at least one pedestrian
The probable range of the probability of raw collision, and in vehicle and at least one pedestrian belonging to the probability of any pedestrian collision
When the minimum value of probable range is greater than or equal to predetermined probabilities threshold value, information reminding is carried out, thus realize the early warning before collision,
A possibility that reducing vehicle and pedestrian collision, improves the protecting effect for pedestrian.
It should be understood that information reminding device provided by the above embodiment is when carrying out information reminding, only with above-mentioned each
The division progress of functional module can according to need and for example, in practical application by above-mentioned function distribution by different function
Energy module is completed, i.e., the internal structure of device is divided into different functional modules, to complete whole described above or portion
Divide function.In addition, information reminding device provided by the above embodiment and information prompting method embodiment belong to same design, have
Body realizes that process is detailed in embodiment of the method, and which is not described herein again.
Fig. 4 shows the structural block diagram of the vehicle 400 of an illustrative embodiment of the invention offer.In general, vehicle 400 wraps
It has included: processor 401 and memory 402.
Processor 401 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 401 can use DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field-
Programmable Gate Array, field programmable gate array), PLA (Programmable LogicArray, may be programmed
Logic array) at least one of example, in hardware realize.Memory 402 may include one or more computer-readable storages
Medium, the computer readable storage medium can be non-transient.Memory 402 may also include high-speed random access memory,
And nonvolatile memory, such as one or more disk storage equipments, flash memory device.In some embodiments, it deposits
For storing at least one instruction, which is used for non-transient computer readable storage medium in reservoir 402
The information prompting method of embodiment of the method offer in the application is provided performed by processor 401.
In some embodiments, vehicle 400 is also optional includes: CAN (Controller AreaNetwork, controller
Local area network) bus 403 and at least one peripheral equipment.Processor 401 and memory 402 can be by CAN bus 403 and each
A peripheral equipment connection.Specifically, peripheral equipment includes: radio circuit 404, touch display screen 405, camera 406, audio-frequency electric
At least one of road 407, positioning component 408 and power supply 409.
CAN bus 403 can be used for at least one peripheral equipment being connected to processor 401 and memory 402.Some
In embodiment, processor 401, memory 402 and CAN bus 403 are integrated on same chip or circuit board；Some other
In embodiment, any one or two in processor 401, memory 402 and CAN bus 403 can in individual chip or
It is realized on circuit board, the present embodiment is not limited this.
Radio circuit 404 is for receiving and emitting RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 404 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 404 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Radio circuit 404 can pass through
At least one wireless communication protocol is communicated with other terminals.The wireless communication protocol includes but is not limited to: WWW, city
Domain net, Intranet, each third generation mobile communication network (2G, 3G, 4G and 5G), WLAN and/or WiFi (Wireless
Fidelity, Wireless Fidelity) network.In some embodiments, radio circuit 404 can also include NFC (Near Field
Communication, wireless near field communication) related circuit, the application is not limited this.
Display screen 405 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their any combination.When display screen 405 is touch display screen, display screen 405 also there is acquisition to show
The ability of the touch signal on the surface or surface of screen 405.The touch signal can be used as control signal and be input to processor
401 are handled.
CCD camera assembly 406 is for acquiring image or video.Optionally, CCD camera assembly 406 is at least two.
Voicefrequency circuit 407 may include microphone and loudspeaker.Microphone is used to acquire the sound wave of user and environment, and will
Sound wave, which is converted to electric signal and is input to processor 401, to be handled, or is input to radio circuit 404 to realize voice communication.
For stereo acquisition or the purpose of noise reduction, microphone can be separately positioned on the different parts of vehicle 400 to be multiple.Mike
Wind can also be array microphone or omnidirectional's acquisition type microphone.Loudspeaker is then used to that processor 401 or radio circuit will to be come from
404 electric signal is converted to sound wave.Loudspeaker can be traditional wafer speaker, be also possible to piezoelectric ceramic loudspeaker.When
When loudspeaker is piezoelectric ceramic loudspeaker, the audible sound wave of the mankind can be not only converted electrical signals to, it can also be by telecommunications
Number the sound wave that the mankind do not hear is converted to carry out the purposes such as ranging.
Positioning component 408 is used to position the current geographic position of vehicle 400, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 408 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), China dipper system or Russia Galileo system positioning group
Part.
Power supply 409 is used to be powered for the various components in vehicle 400.
In some embodiments, vehicle 400 further includes having one or more sensors 410.The one or more sensors
410 include but is not limited to: acceleration transducer 411, optical sensor 412 and range sensor 413.
It will be understood by those skilled in the art that structure shown in Fig. 4 does not constitute the restriction to vehicle 400, can wrap
It includes than illustrating more or fewer components, perhaps combine certain components or is arranged using different components.
It that is to say, the embodiment of the present invention provides not only a kind of for executing the vehicle of the information prompting method of above-described embodiment
, a kind of computer readable storage medium is additionally provided, is stored with computer program in the storage medium, the computer program quilt
The information prompting method of above-described embodiment may be implemented in processor when executing.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of information prompting method, which is characterized in that be applied in vehicle, which comprises
Pedestrian detection is carried out in the vehicle travel process；
When detecting at least one pedestrian, belonging to the determining probability with each pedestrian collision at least one described pedestrian
Probable range；
Be greater than when the minimum value with probable range belonging to the probability of any pedestrian collision at least one described pedestrian or
When equal to predetermined probabilities threshold value, information reminding is carried out；Wherein, the determination occurs with pedestrian each at least one described pedestrian
Probable range belonging to the probability of collision, comprising: determine at least one described pedestrian the mobile message of each pedestrian and described
The driving information of vehicle；Based on the mobile message of each pedestrian at least one described pedestrian and the driving information of the vehicle,
Probable range belonging to the determining probability with each pedestrian collision at least one described pedestrian；
The mobile message of each pedestrian includes position, moving direction and the movement speed of pedestrian, institute at least one described pedestrian
The driving information for stating vehicle includes the driving direction and travel speed of the vehicle；It is every in described at least one pedestrian based on described in
The driving information of the mobile message of a pedestrian and the vehicle, determination and each pedestrian collision at least one described pedestrian
Probability belonging to probable range, comprising: position, moving direction and movement speed based on each pedestrian, determine described in
The motion track of each pedestrian；Driving direction and travel speed based on the vehicle, determine the driving trace of the vehicle；Base
In the motion track of each pedestrian and the driving trace of the vehicle, the determining probability with each pedestrian collision
Affiliated probable range；
The driving trace of the motion track based on each pedestrian and the vehicle, it is determining to occur with each pedestrian
Probable range belonging to the probability of collision, comprising: determining whether there is movement at least one described pedestrian in preset duration
The target pedestrian that track is intersected with the driving trace of the vehicle；When at least one described pedestrian there are motion track with it is described
When the target pedestrian of the driving trace intersection of vehicle, determine belonging to the vehicle and the probability of the target pedestrian collision
Probable range is the first predetermined probabilities range；When the traveling that motion track and the vehicle are not present at least one described pedestrian
When the target pedestrian of intersection of locus, the probability institute of any pedestrian collision in the vehicle and at least one described pedestrian is determined
The probable range of category is the second predetermined probabilities range.
2. the method as described in claim 1, which is characterized in that it is described that pedestrian detection is carried out in the vehicle travel process,
Include:
By mobile unit and road furniture, the environmental information that the vehicle is presently in position is obtained；
From the environmental information, at least one described pedestrian is detected.
3. the method as described in claim 1, which is characterized in that the mobile message packet of each pedestrian at least one described pedestrian
The position of pedestrian is included, the driving information of the vehicle includes the driving direction of the vehicle；
It is described based on the mobile message of each pedestrian at least one described pedestrian and the driving information of the vehicle, determining and institute
State probable range belonging to the probability of each pedestrian collision at least one pedestrian, comprising:
Based on the position of each pedestrian at least one described pedestrian, determine between each pedestrian and the vehicle away from
From, and determine whether each pedestrian is located in the driving direction of the vehicle；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and the target
When the distance between pedestrian and the vehicle are less than or equal to pre-determined distance, determine that the vehicle is touched with target line human hair life
Probable range belonging to the probability hit is third predetermined probabilities range；
As the target pedestrian being located at least one described pedestrian there are position in the driving direction of the vehicle, and the target
When the distance between pedestrian and the vehicle are greater than the pre-determined distance, the vehicle and the target pedestrian collision are determined
Probability belonging to probable range be the 4th predetermined probabilities range.
4. the method as described in claim 1, which is characterized in that the carry out information reminding, comprising:
Display or play cuing information, the prompt information be used for prompt the vehicle to collide probability belonging to probability model
It encloses；Alternatively,
The speed of the vehicle is adjusted to pre-set velocity threshold value；Alternatively,
Carry out vehicle breaking operation.
5. a kind of information reminding device, which is characterized in that be applied in vehicle, described device includes:
Detection module, for carrying out pedestrian detection in the vehicle travel process；
Determining module, for when detecting at least one pedestrian, each pedestrian to occur in determining and at least one described pedestrian
Probable range belonging to the probability of collision；
Reminding module, for working as probable range belonging to the probability with any pedestrian collision at least one described pedestrian
When minimum value is greater than or equal to predetermined probabilities threshold value, information reminding is carried out；
Wherein, probable range belonging to probability of the determination with each pedestrian collision at least one described pedestrian, packet
It includes: determining the mobile message of each pedestrian and the driving information of the vehicle at least one described pedestrian；Based on it is described at least
It is each in the driving information of the mobile message and the vehicle of each pedestrian in one pedestrian, determination and at least one described pedestrian
Probable range belonging to the probability of pedestrian collision；
The mobile message of each pedestrian includes position, moving direction and the movement speed of pedestrian, institute at least one described pedestrian
The driving information for stating vehicle includes the driving direction and travel speed of the vehicle；It is every in described at least one pedestrian based on described in
The driving information of the mobile message of a pedestrian and the vehicle, determination and each pedestrian collision at least one described pedestrian
Probability belonging to probable range, comprising: position, moving direction and movement speed based on each pedestrian, determine described in
The motion track of each pedestrian；Driving direction and travel speed based on the vehicle, determine the driving trace of the vehicle；Base
In the motion track of each pedestrian and the driving trace of the vehicle, the determining probability with each pedestrian collision
Affiliated probable range；
The driving trace of the motion track based on each pedestrian and the vehicle, it is determining to occur with each pedestrian
Probable range belonging to the probability of collision, comprising: determining whether there is movement at least one described pedestrian in preset duration
The target pedestrian that track is intersected with the driving trace of the vehicle；When at least one described pedestrian there are motion track with it is described
When the target pedestrian of the driving trace intersection of vehicle, determine belonging to the vehicle and the probability of the target pedestrian collision
Probable range is the first predetermined probabilities range；When the traveling that motion track and the vehicle are not present at least one described pedestrian
When the target pedestrian of intersection of locus, the probability institute of any pedestrian collision in the vehicle and at least one described pedestrian is determined
The probable range of category is the second predetermined probabilities range.
6. device as claimed in claim 5, which is characterized in that the detection module includes:
Acquisition submodule, for obtaining the environmental information that the vehicle is presently in position by mobile unit and road furniture；
Detection sub-module, for from the environmental information, detecting at least one described pedestrian.
7. a kind of computer readable storage medium, which is characterized in that be stored with computer program, the meter in the storage medium
Any method in claim 1-4 is realized when calculation machine program is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711370431.7A CN108082107B (en) | 2017-12-19 | 2017-12-19 | Information prompting method, device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711370431.7A CN108082107B (en) | 2017-12-19 | 2017-12-19 | Information prompting method, device and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108082107A CN108082107A (en) | 2018-05-29 |
| CN108082107B true CN108082107B (en) | 2019-07-09 |
Family
ID=62177004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711370431.7A Active CN108082107B (en) | 2017-12-19 | 2017-12-19 | Information prompting method, device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082107B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664820A (en) * | 2018-09-25 | 2019-04-23 | 平安科技（深圳）有限公司 | Driving reminding method, device, equipment and storage medium based on automobile data recorder |
| CN112147572B (en) * | 2019-06-28 | 2023-11-14 | 比亚迪股份有限公司 | Positioning method and positioning device for railway vehicle |
| CN110647146B (en) * | 2019-09-09 | 2023-01-31 | 深圳一清创新科技有限公司 | Unmanned vehicle control method and device, computer equipment and storage medium |
| CN114312836A (en) * | 2021-12-24 | 2022-04-12 | 阿波罗智联(北京)科技有限公司 | Method, device, equipment and storage medium for automatically driving vehicle to give way to pedestrians |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001338281A (en) * | 2000-05-30 | 2001-12-07 | Honda Motor Co Ltd | Moving object detector |
| JP2002074595A (en) * | 2000-08-29 | 2002-03-15 | Hitachi Ltd | Safe driving support system for vehicle |
| CN101681562A (en) * | 2007-06-20 | 2010-03-24 | 丰田自动车株式会社 | Vehicle travel track estimator |
| CN102985277A (en) * | 2010-12-31 | 2013-03-20 | 北京星河易达科技有限公司 | Intelligent traffic safety system based on comprehensive state detection and decision method thereof |
| CN103250196A (en) * | 2010-11-30 | 2013-08-14 | 丰田自动车株式会社 | Target status determination device for movable object, and program |
| CN105788365A (en) * | 2016-04-15 | 2016-07-20 | 浪潮集团有限公司 | Traffic intersection accident prevention system implementation method adopting combination of V2I and camera |
-
2017
- 2017-12-19 CN CN201711370431.7A patent/CN108082107B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001338281A (en) * | 2000-05-30 | 2001-12-07 | Honda Motor Co Ltd | Moving object detector |
| JP2002074595A (en) * | 2000-08-29 | 2002-03-15 | Hitachi Ltd | Safe driving support system for vehicle |
| CN101681562A (en) * | 2007-06-20 | 2010-03-24 | 丰田自动车株式会社 | Vehicle travel track estimator |
| CN103250196A (en) * | 2010-11-30 | 2013-08-14 | 丰田自动车株式会社 | Target status determination device for movable object, and program |
| CN102985277A (en) * | 2010-12-31 | 2013-03-20 | 北京星河易达科技有限公司 | Intelligent traffic safety system based on comprehensive state detection and decision method thereof |
| CN105788365A (en) * | 2016-04-15 | 2016-07-20 | 浪潮集团有限公司 | Traffic intersection accident prevention system implementation method adopting combination of V2I and camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108082107A (en) | 2018-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108082107B (en) | Information prompting method, device and computer readable storage medium | |
| KR102027646B1 (en) | System and method for processing traffic sound data to provide driver assistance | |
| US11351988B2 (en) | Use of sound with assisted or autonomous driving | |
| RU2656933C2 (en) | Method and device for early warning during meeting at curves | |
| US9319860B2 (en) | Mobile terminal that determine whether the user is walking while watching the mobile terminal | |
| JP2020194553A (en) | Vehicle control system, vehicle control method, program, information processor, and vehicle controller | |
| CN102455699B (en) | Non-manipulation operation system and method for preparing for non-manipulation operation of vehicle | |
| US20180286232A1 (en) | Traffic control using sound signals | |
| US20190051173A1 (en) | Method and apparatus for vehicle control hazard detection | |
| CN110461675A (en) | Method and apparatus for being driven based on sensitive information control | |
| CN109895767A (en) | Control method, device and the storage medium of automobile | |
| US10930147B2 (en) | Electronic apparatus, roadside unit, and transport system | |
| JP2008152387A (en) | Periphery-monitoring device for vehicle | |
| CN110077402A (en) | Method for tracing, device and the storage medium of target object | |
| CN110244741A (en) | Control method, device and the storage medium of intelligent automobile | |
| US10325508B2 (en) | Apparatus and associated methods for collision avoidance | |
| WO2017204282A1 (en) | Electronic device, control method, and control program | |
| CN109581358A (en) | Recognition methods, device and the storage medium of barrier | |
| CN103687772A (en) | Method for supporting a driver using a portable device in a vehicle | |
| CN107139918A (en) | A kind of vehicle collision reminding method and vehicle | |
| CN108791056A (en) | Car's door controlling method, apparatus and storage medium | |
| CN111186435B (en) | Anti-collision method and device for automobile and storage medium | |
| KR20130068159A (en) | Method and apparatus for early waring of padastrian car crash using mobile device | |
| CN111071151A (en) | Anti-collision method and device for automobile and storage medium | |
| JP2013008308A (en) | Vehicle approach notification device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220211 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241006 Changchun Road, Wuhu economic and Technological Development Zone, Wuhu, Anhui, 8 Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
|
| TR01 | Transfer of patent right |