CN108764218A - Comprehensive pedestrian detecting system - Google Patents
Comprehensive pedestrian detecting system Download PDFInfo
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- CN108764218A CN108764218A CN201810782360.XA CN201810782360A CN108764218A CN 108764218 A CN108764218 A CN 108764218A CN 201810782360 A CN201810782360 A CN 201810782360A CN 108764218 A CN108764218 A CN 108764218A
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- 230000004888 barrier function Effects 0.000 claims abstract description 64
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000003384 imaging method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Human Computer Interaction (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention is suitable for vehicle technology field, provides a kind of comprehensive pedestrian detecting system, which includes：Millimetre-wave radar set on front of the car and rear end；Set on the ultrasonic radar and infrared sensor of roof；With the Vehicle Controller of millimetre-wave radar, ultrasonic radar and infrared sensor communication connection; millimetre-wave radar, ultrasonic radar are detected the barrier in vehicle's surroundings detection zone; realize the omnibearing protection to vehicle; infrared sensor is to the barrier of detection into pedestrian and inhuman identification; entire car controller is to identifying that the barrier for people is avoided into row major; pedestrains safety is paid the utmost attention to, maximum has ensured pedestrains safety.
Description
Technical field
The invention belongs to power battery automotive field, a kind of comprehensive pedestrian detecting system and method are provided.
Background technology
Automotive circuit diagram have passed through the development of decades, almost the various aspects of performance of automobile has been performed to it is ultimate attainment, recently
During the decade, automatic Pilot becomes the new direction of China Automobile Industry, and the safety problem of automatic Pilot is related to traffic accident peace
Entirely, the various aspects such as information security, moral ethics safety.Traffic accident is most basic safety safely, and in recent years, active safety removes
Consideration vehicle safety, passenger inside the vehicle's safety also start to consider the outer personnel safety of vehicle, such as the safety of pedestrian.
In the prior art, consider that the major measure of this occupant safety is safety belt and air bag, consider vehicle stranger
The technology of member's safety mainly has pedestrian airbag, pedestrian detection and early warning technology, wherein only pedestrian detection and early warning technology
For the content of active safety.Existing pedestrian detection is there are safe range and detection means are all single, the limited problem of effect.
Invention content
A kind of comprehensive pedestrian detecting system of offer of the embodiment of the present invention and method, it is intended to which existing pedestrian detection has safety
Range and detection means are all single, the limited problem of effect.
The invention is realized in this way a kind of comprehensive pedestrian detecting system, the system include：
Millimetre-wave radar set on front of the car and rear end；
Set on the ultrasonic radar and infrared sensor of roof；
With the Vehicle Controller of millimetre-wave radar, ultrasonic radar and infrared sensor communication connection.
Further, the barrier being set in the millimetre-wave radar detection vehicle front detection zone of front of the car, if
Barrier is detected in vehicle front detection zone, then sends barrier command to entire car controller, and barrier command carries
Target position information where barrier；
Barrier in the millimetre-wave radar detection rear of vehicle detection zone of rear vehicle end, if being examined in rear of vehicle
It surveys in region and detects barrier, then send barrier command to entire car controller, barrier command carries where barrier
Target position information；
Ultrasonic radar detects the barrier in vehicle's surroundings detection zone, if there are barrier in detection zone, to
Entire car controller sends barrier command, and target position information where barrier is carried in barrier command；
Entire car controller controls infrared sensor into pedestrian and non-based on the target position information carried in barrier command
People identifies, and recognition result is sent to entire car controller；
Sequence is preferentially avoided to identifying for the barrier of people at priority of the entire car controller based on setting.
Further, the system also includes：
Set on the depth image sensor of roof, depth image sensor is connected with entire car controller communication.
Further, the inhuman identification signal that entire car controller is sent based on infrared sensor is come controlling depth image sensing
Device carries out Image Acquisition to target location, the inhuman non-inanimate object of life volume is identified based on the image of acquisition, and will identification
As a result it is sent to entire car controller；
Priority orders of the entire car controller based on setting preferentially avoid inhuman inanimate object.
Further, the system also includes：
Set on the CCD cameras of vehicle front, CCD cameras are connected with entire car controller communication.
Further, entire car controller is controlled based on millimetre-wave radar and the barrier command of ultrasonic radar transmission
CCD cameras carry out Image Acquisition to target location, based on the image of acquisition to identify people and inhuman identification, and recognition result are sent out
It send to entire car controller.
Further, millimetre-wave radar is respectively arranged on centre position setting and the automobile rear end both sides of automobile front beam.
It is had the advantages that in comprehensive pedestrian detecting system：
1. carrying out barrier scanning to the barrier positioned at vehicle's surroundings based on millimetre-wave radar and ultrasonic radar, realize
To the omnibearing protection of vehicle,
2. pair barrier is identified into pedestrian, non-human organism and inorganic matter, by people, non-human organism and inorganic matter
Priority orders are avoided, and pedestrains safety is paid the utmost attention to, and maximum has ensured pedestrains safety；
3. carrying out detection of obstacles to vehicle's surroundings using millimetre-wave radar and ultrasonic radar, millimetre-wave radar can be more
The drawback that ultrasonic radar is influenced by temperature and weather is mended, the omnibearing protection of vehicle is furthermore achieved.
Description of the drawings
Fig. 1 is the structural schematic diagram of comprehensive pedestrian detecting system provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram in figure omnibearing protection provided in an embodiment of the present invention region；
11. millimetre-wave radar, 12. ultrasonic radars, 13. entire car controllers, 14. infrared sensors, 15.CCD cameras,
16. depth image sensor.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structural schematic diagram of comprehensive pedestrian detecting system provided in an embodiment of the present invention, for convenience of description, only
It shows and the relevant part of the embodiment of the present invention.
The system includes：
Millimetre-wave radar 11 set on front of the car and rear end；
In the present invention, the centre position of automobile front beam is provided with millimetre-wave radar 11, in automobile rear end both sides
Two millimetre-wave radars 11 are respectively equipped with,
Set on the ultrasonic radar 12 and infrared sensor 14 of roof；
With the Vehicle Controller 13 of millimetre-wave radar 11, ultrasonic radar 12 and infrared sensor 14 communication connection, millimeter
It is integrated with image recognition algorithm in wave radar 11, ultrasonic radar 12, it is complete to go out a ripe network using neural metwork training
At the identification for knowing barrier position, wherein
The barrier in vehicle front detection zone is detected set on the millimetre-wave radar 11 of front of the car, if in vehicle front
Barrier is detected in detection zone, then starts barrier command, barrier command to carry barrier to entire car controller 13
Place target position information；
The barrier in the detection zone of rear of vehicle is detected set on the millimetre-wave radar 11 of rear vehicle end, if in rear of vehicle
Barrier is detected in detection zone, then starts barrier command, barrier command to carry barrier to entire car controller 13
Place target position information；
Ultrasonic radar 12 detects the barrier in vehicle's surroundings detection zone, if there are barrier in detection zone,
Barrier command is sent to entire car controller 13, target position information where barrier is carried in barrier command；
Entire car controller 13 controls infrared sensor 14 into pedestrian based on the target position information carried in barrier command
With inhuman identification, and recognition result is sent to entire car controller；
Sequence is preferentially avoided to identifying for the barrier of people at priority of the entire car controller 13 based on setting.Comprehensive
It is had the advantages that in pedestrian detecting system：
1. carrying out barrier scanning to the barrier positioned at vehicle's surroundings based on millimetre-wave radar and ultrasonic radar, realize
To the omnibearing protection of vehicle, Fig. 2 is the schematic diagram in omnibearing protection region provided by the invention, wherein 1 is millimetre-wave radar
Detection zone, 2 be the detection zone of CCD camera, 3 be the detection zone of ultrasonic radar, 4 be infrared sensor detection zone
Domain.
2. based on infrared sensor into pedestrian and inhuman identification, people is avoided into row major, pays the utmost attention to pedestrains safety, most
Pedestrains safety is ensured greatly；
3. carrying out detection of obstacles to vehicle's surroundings using millimetre-wave radar and ultrasonic radar, millimetre-wave radar can be more
The drawback that ultrasonic radar is influenced by temperature and weather is mended, the omnibearing protection of vehicle is furthermore achieved.
In the present invention, system is also wrapped：Set on the depth image sensor 16 of roof, depth image sensor 16 and vehicle
The communication connection of controller 13, wherein
The inhuman identification signal that entire car controller 13 is sent based on infrared sensor 14 is come controlling depth imaging sensor 16
Image Acquisition is carried out to target location, the inhuman non-inanimate object of life volume is identified based on the image of acquisition, and identification is tied
Fruit is sent to entire car controller 13；
Priority orders of the entire car controller 13 based on setting preferentially avoid inhuman inanimate object, priority orders
For：People, inhuman inanimate object, non-inanimate object.
In the present invention, which further includes：
Set on the CCD cameras 15 of vehicle front, CCD cameras 15 are connected with the communication of entire car controller 13, wherein full-vehicle control
The barrier command that device 13 is sent based on millimetre-wave radar 11 and ultrasonic radar 12 control CCD cameras 15 to target location into
Recognition result based on the image of acquisition to identify people and inhuman identification, and is sent to entire car controller 13 by row Image Acquisition, whole
Sequence is preferentially avoided to identifying for the barrier of people at priority of the vehicle controller 13 based on setting.
Comprehensive pedestrian detecting system provided by the invention carries out supplement to infrared sensor 14 by CCD cameras 15 and matches
It closes, realizes the remote people of vehicle front and inhuman identification, be further ensured that traffic safety.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (7)
1. a kind of comprehensive pedestrian detecting system, which is characterized in that the system comprises：
Millimetre-wave radar set on front of the car and rear end；
Set on the ultrasonic radar and infrared sensor of roof；
With the Vehicle Controller of millimetre-wave radar, ultrasonic radar and infrared sensor communication connection.
2. comprehensive pedestrian detecting system as described in claim 1, which is characterized in that the millimetre-wave radar for being set to front of the car is examined
The barrier in vehicle front detection zone is surveyed, if detecting barrier in vehicle front detection zone, to full-vehicle control
Device sends barrier command, and barrier command carries target position information where barrier；
Barrier in the millimetre-wave radar detection rear of vehicle detection zone of rear vehicle end, if in rear of vehicle detection zone
Barrier is detected in domain, then sends barrier command to entire car controller, and barrier command carries target where barrier
Location information；
Ultrasonic radar detects the barrier in vehicle's surroundings detection zone, if there are barriers in detection zone, to vehicle
Controller sends barrier command, and target position information where barrier is carried in barrier command；
Entire car controller controls infrared sensor into pedestrian and inhuman knowledge based on the target position information carried in barrier command
Not, and by recognition result it is sent to entire car controller；
Sequence is preferentially avoided to identifying for the barrier of people at priority of the entire car controller based on setting.
3. comprehensive pedestrian detecting system as described in claim 1, which is characterized in that the system also includes：
Set on the depth image sensor of roof, depth image sensor is connected with entire car controller communication.
4. comprehensive pedestrian detecting system as claimed in claim 3, which is characterized in that entire car controller is sent out based on infrared sensor
The inhuman identification signal sent carrys out controlling depth imaging sensor and carries out Image Acquisition to target location, is known based on the image of acquisition
The not inhuman non-inanimate object of life volume, and recognition result is sent to entire car controller；
Priority orders of the entire car controller based on setting preferentially avoid inhuman inanimate object.
5. comprehensive pedestrian detecting system as described in claim 1, which is characterized in that the system also includes：
Set on the CCD cameras of vehicle front, CCD cameras are connected with entire car controller communication.
6. comprehensive pedestrian detecting system as claimed in claim 5, which is characterized in that entire car controller be based on millimetre-wave radar and
The barrier command that ultrasonic radar is sent carries out Image Acquisition, the image based on acquisition to control CCD cameras to target location
Come into pedestrian and inhuman identification, and recognition result is sent to entire car controller.
7. comprehensive pedestrian detecting system as described in claim 1, which is characterized in that millimetre-wave radar is respectively arranged on automobile front protecting
The centre position of dangerous thick stick is arranged and automobile rear end both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810782360.XA CN108764218A (en) | 2018-07-17 | 2018-07-17 | Comprehensive pedestrian detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810782360.XA CN108764218A (en) | 2018-07-17 | 2018-07-17 | Comprehensive pedestrian detecting system |
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| Publication Number | Publication Date |
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| CN108764218A true CN108764218A (en) | 2018-11-06 |
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| CN201810782360.XA Pending CN108764218A (en) | 2018-07-17 | 2018-07-17 | Comprehensive pedestrian detecting system |
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Cited By (3)
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| CN110135358A (en) * | 2019-05-17 | 2019-08-16 | 奇瑞汽车股份有限公司 | Automotive controls and method |
| RU2795847C1 (en) * | 2021-12-13 | 2023-05-12 | Общество с ограниченной ответственностью "РобБотКрафт" | Method and system for detecting objects in water for small boats |
| GB2625324A (en) * | 2022-12-14 | 2024-06-19 | Aptiv Technoologies Ag | Perception sensor processing method and processing unit for performing the same |
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| CN110135358A (en) * | 2019-05-17 | 2019-08-16 | 奇瑞汽车股份有限公司 | Automotive controls and method |
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