CN108859935B - Unmanned automobile and prompting device and method thereof - Google Patents
Unmanned automobile and prompting device and method thereof Download PDFInfo
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- CN108859935B CN108859935B CN201810749812.4A CN201810749812A CN108859935B CN 108859935 B CN108859935 B CN 108859935B CN 201810749812 A CN201810749812 A CN 201810749812A CN 108859935 B CN108859935 B CN 108859935B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/54—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating speed outside of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Abstract
The invention provides an unmanned automobile and a prompting device and a method thereof, wherein the prompting device comprises: the vehicle control module is configured to generate a vehicle avoidance action signal according to a moving track of a pedestrian and generate a prompt signal according to the vehicle avoidance action signal when the pedestrian is detected within a preset range in front of a current traffic road of the unmanned automobile; and the light prompting module is in communication connection with the vehicle control module and is configured to perform light prompting according to the prompting signal. The invention can intelligently identify the moving track of the pedestrian, help the pedestrian better understand the next action of the unmanned automobile by controlling the light prompting module, and effectively prevent the pedestrian from misjudging the vehicle moving track, thereby avoiding unnecessary traffic accidents and improving the driving efficiency of the unmanned automobile.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to an unmanned automobile and a prompting device and method thereof.
Background
With the progress of social science and technology, the unmanned automobile gradually becomes the pursuit direction of various automobile factories, the development of the unmanned automobile is actively distributed, the unmanned automobile is believed to be in the way in the near future, and the problem of mutual cognition between pedestrians and the unmanned automobile is brought along.
For example, an unmanned vehicle runs on a public road, and a pedestrian crossing the road in front of the unmanned vehicle, at this time, the unmanned vehicle decelerates, but cannot judge the next moving track (forward walking, stopping in place, backward walking, etc.) of the pedestrian, and similarly, the pedestrian cannot judge the next moving track (left turning, right turning, acceleration, deceleration to stop, etc.) of the unmanned vehicle after deceleration, so that the efficiency of the unmanned vehicle passing through a sidewalk is reduced, traffic is blocked, certain potential safety hazards exist, and traffic accidents may be caused by misjudgment of the pedestrian on the vehicle moving track.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
The invention provides an unmanned automobile and a prompting device and method thereof, aiming at overcoming the defects that in the prior art, the unmanned automobile cannot be well interacted with pedestrians, the driving efficiency is reduced, and certain potential safety hazards exist.
The invention solves the technical problems through the following technical scheme:
a reminder device for an unmanned vehicle, comprising:
the vehicle control module is configured to generate a vehicle avoidance action signal according to a moving track of a pedestrian when the pedestrian is detected in a preset range in front of a current driving road of the unmanned automobile, and generate a prompt signal according to the vehicle avoidance action signal; and the number of the first and second groups,
and the light prompt module is in communication connection with the vehicle control module and is configured to perform light prompt according to the prompt signal.
Optionally, the prompting device further comprises an automatic driving sensing component;
the automatic driving sensing assembly is in communication connection with the vehicle control module;
the automatic driving sensing assembly is configured to collect environmental information in front of a current driving road and send the environmental information to the vehicle control module.
Optionally, the autopilot sensing assembly includes a camera and a lidar sensor.
Optionally, the vehicle control module includes an industrial personal computer, an automatic driving controller, and a BCM controller (vehicle body controller);
the industrial personal computer is in communication connection with the automatic driving sensing assembly;
the automatic driving controller is respectively in communication connection with the industrial personal computer and the BCM controller;
the industrial personal computer is configured to judge whether pedestrians exist in a preset range in front of the current driving road or not by analyzing the environmental information when the environmental information is received from the automatic driving sensing assembly, and if yes, the industrial personal computer is further configured to generate a vehicle avoidance action signal and send the vehicle avoidance action signal to the automatic driving controller by analyzing the moving track of the pedestrians in the environmental information;
the automatic driving controller is configured to generate the prompt signal according to the vehicle avoidance action signal and send the prompt signal to the BCM controller when the vehicle avoidance action signal is received from the industrial personal computer;
the BCM controller is configured to control the light prompting module to perform light prompting according to the prompting signal when the prompting signal is received from the automatic driving controller.
Optionally, the vehicle avoidance action signal includes a parking signal, a left turn signal, a right turn signal, an acceleration signal or a deceleration signal;
the prompting signals comprise parking prompting signals, left-turning prompting signals, right-turning prompting signals, acceleration prompting signals or deceleration prompting signals;
the industrial personal computer is also configured to generate a deceleration signal and send the deceleration signal to the automatic driving controller when a pedestrian is detected in a preset range in front of a previous driving road;
the autonomous driving controller is configured to generate the deceleration prompting signal and control the unmanned automobile to decelerate when the deceleration signal is received.
Optionally, the industrial personal computer is configured to generate the parking signal and send the parking signal to the automatic driving controller when recognizing that the pedestrian moves towards the forward direction of the vehicle, and the automatic driving controller is further configured to generate the parking prompt signal and control the unmanned automobile to perform parking braking when receiving the parking signal;
the industrial personal computer is configured to generate the acceleration signal and send the acceleration signal to the automatic driving controller when recognizing that the pedestrian does not move towards the advancing direction of the vehicle, and the automatic driving controller is further configured to generate the acceleration prompt signal and control the unmanned automobile to accelerate when receiving the acceleration signal;
the industrial computer is configured as when discerning the pedestrian at vehicle advancing direction and when stopping moving, generates turn left signal or turn right signal and send to automatic drive controller, automatic drive controller still configures as when receiving when turning left the signal, generate the cue signal turns left, and control unmanned automobile carries out the turn left, automatic drive controller still configures as when receiving when turning right the signal, generate the cue signal turns right, and control unmanned automobile carries out the turn right.
Optionally, the light prompting module comprises a first light prompting unit, a second light prompting unit, a third light prompting unit, a fourth light prompting unit and a fifth light prompting unit;
when a pedestrian is detected in a preset range in front of the front driving road, the 5 light prompting units are all configured to light the light with the first color;
when the left-turn prompting signal is generated, the first light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the right turn prompting signal is generated, the fifth light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the acceleration prompting signal is generated, the fourth light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the deceleration prompting signal is generated, the second light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the parking prompting signal is generated, the third light prompting unit is configured to light the light of the second color, and the rest 4 light prompting units are configured to light the light of the first color.
Optionally, the first light prompt unit, the second light prompt unit, the third light prompt unit, the fourth light prompt unit and the fifth light prompt unit are vertical strip lights respectively.
Optionally, the 5 light prompting units are respectively arranged on the emblems of the unmanned automobile; or the like, or, alternatively,
the 5 light prompting units are respectively arranged at the positions of the front air grids of the unmanned automobile; or the like, or, alternatively,
and the 5 light prompting units are respectively used for being arranged at the positions of the front face of the unmanned automobile.
Optionally, when setting up 5 light suggestion units, 5 light suggestion units are arranged in succession and are set up, first light suggestion unit is located the leftmost side, fifth light suggestion unit is located the rightmost side, third light suggestion unit is located central authorities, second light suggestion unit is located first light suggestion unit with between the third light suggestion unit, fourth light suggestion unit is located fifth light suggestion unit with between the third light suggestion unit.
Optionally, the first color comprises white and the second color comprises green.
An unmanned vehicle comprises the prompting device of the unmanned vehicle.
A prompting method of an unmanned automobile comprises the following steps:
when a vehicle control module detects a pedestrian in a preset range in front of a current driving road of the unmanned automobile, generating a vehicle avoidance action signal according to a moving track of the pedestrian, and generating a prompt signal according to the vehicle avoidance action signal;
and the light prompting module carries out light prompting according to the prompting signal.
Optionally, the method further comprises the following steps:
the automatic driving sensing assembly collects environmental information in front of a current driving road and sends the environmental information to the vehicle control module.
Optionally, the autopilot sensing assembly includes a camera and a lidar sensor.
Optionally, the vehicle control module comprises an industrial personal computer, an automatic driving controller and a BCM controller;
when the industrial personal computer receives the environmental information from the automatic driving sensing assembly, whether pedestrians exist in a preset range in front of the current driving road is judged by analyzing the environmental information, if yes, the vehicle avoidance action signal is generated by analyzing the moving track of the pedestrians in the environmental information and is sent to the automatic driving controller;
when the automatic driving controller receives the vehicle avoidance action signal from the industrial personal computer, the prompt signal is generated according to the vehicle avoidance action signal and is sent to the BCM controller;
and when the BCM controller receives the prompt signal from the automatic driving controller, controlling the light prompt module to prompt light according to the prompt signal.
Optionally, the vehicle avoidance action signal includes a parking signal, a left turn signal, a right turn signal, an acceleration signal or a deceleration signal;
the prompting signals comprise parking prompting signals, left-turning prompting signals, right-turning prompting signals, acceleration prompting signals or deceleration prompting signals;
when the industrial personal computer detects a pedestrian in a preset range in front of a preceding driving road, generating a deceleration signal and sending the deceleration signal to the automatic driving controller;
and when the automatic driving controller receives the deceleration signal, generating the deceleration prompt signal and controlling the unmanned automobile to decelerate.
Alternatively, after the pedestrian is detected and accelerated,
when the industrial personal computer identifies that the pedestrian moves towards the advancing direction of the vehicle, the parking signal is generated and sent to the automatic driving controller, and when the automatic driving controller receives the parking signal, the parking prompt signal is generated and the unmanned vehicle is controlled to perform parking braking;
when the industrial personal computer identifies that the pedestrian does not move towards the advancing direction of the vehicle, the acceleration signal is generated and sent to the automatic driving controller, and when the automatic driving controller receives the acceleration signal, the acceleration prompt signal is generated and the unmanned automobile is controlled to accelerate;
when the industrial computer discerned the pedestrian and at vehicle advancing direction and when stopping moving, generated turn left signal or turn right signal and send to automatic drive controller works as automatic drive controller receives during the turn left signal, generate the turn left cue signal, and control unmanned automobile carries out the turn left, works as automatic drive controller receives during the turn right signal, generates the turn right cue signal, and control unmanned automobile carries out the turn right.
Optionally, the light prompting module comprises a first light prompting unit, a second light prompting unit, a third light prompting unit, a fourth light prompting unit and a fifth light prompting unit;
when a pedestrian is detected in a preset range in front of the front driving road, the 5 light prompting units all light with the first color;
when the left-turn prompting signal is generated, the first light prompting unit lights up light of a second color, and the rest 4 light prompting units light up light of the first color;
when the right turn prompting signal is generated, the fifth light prompting unit lights up light of a second color, and the rest 4 light prompting units light up light of the first color;
when the acceleration prompting signal is generated, the fourth light prompting unit lights the light of the second color, and the rest 4 light prompting units light the light of the first color;
when the deceleration prompting signal is generated, the second light prompting unit lights the light of the second color, and the rest 4 light prompting units light the light of the first color;
when the parking prompting signal is generated, the third light prompting unit lights the light with the second color, and the rest 4 light prompting units light the light with the first color.
Optionally, the first light prompt unit, the second light prompt unit, the third light prompt unit, the fourth light prompt unit and the fifth light prompt unit are vertical strip lights respectively.
Optionally, 5 light prompting units are respectively arranged on the emblems of the unmanned automobile; or the like, or, alternatively,
the 5 light prompting units are respectively arranged at the positions of the front air grids of the unmanned automobile; or the like, or, alternatively,
and the 5 light prompting units are respectively arranged at the positions of the front face of the unmanned automobile.
Optionally, when setting up 5 light suggestion units, 5 light suggestion units are arranged in succession and are set up, first light suggestion unit is located the leftmost side, fifth light suggestion unit is located the rightmost side, third light suggestion unit is located central authorities, second light suggestion unit is located first light suggestion unit with between the third light suggestion unit, fourth light suggestion unit is located fifth light suggestion unit with between the third light suggestion unit.
Optionally, the first color comprises white and the second color comprises green.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention can intelligently identify the moving track of the pedestrian, help the pedestrian better understand the next action of the unmanned automobile by controlling the light prompting module, and effectively prevent the pedestrian from misjudging the vehicle moving track, thereby avoiding unnecessary traffic accidents and improving the driving efficiency of the unmanned automobile.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1 is a schematic structural diagram of a prompting device of an unmanned vehicle according to a preferred embodiment of the invention.
Fig. 2 is a flowchart of a prompting method for an unmanned vehicle according to a preferred embodiment of the invention.
Description of reference numerals:
autopilot sensing assembly 1
Vehicle control module 2
Light prompt module 3
First light prompt unit 31
Second light prompt unit 32
Third light prompt unit 33
Fourth light prompt unit 34
Fifth light prompt unit 35
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
The following description is presented to enable any person skilled in the art to make and use the invention and is incorporated in the context of a particular application. Various modifications, as well as various uses in different applications will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to a wide range of embodiments. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In the following detailed description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the practice of the invention may not necessarily be limited to these specific details. In other instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present invention.
Note that where used, the designations left, right, front, back, top, bottom, positive, negative, clockwise, and counterclockwise are used for convenience only and do not imply any particular fixed orientation. In fact, they are used to reflect the relative position and/or orientation between the various parts of the object.
As shown in fig. 1, the present embodiment provides a prompting device for an unmanned vehicle, where the prompting device is configured to be disposed on the unmanned vehicle, and the prompting device includes an automatic driving sensing assembly 1, a vehicle control module 2, and a light prompting module 3.
Specifically, vehicle control module 2 includes industrial computer 21, automatic driving controller 22 and BCM controller 23, light suggestion module 3 includes first light suggestion unit 31, second light suggestion unit 32, third light suggestion unit 33, fourth light suggestion unit 34 and fifth light suggestion unit 35, automatic driving sensing subassembly 1 and industrial computer 21 communication connection, automatic driving controller 22 respectively with industrial computer 21 and BCM controller 23 communication connection, BCM controller 23 respectively with first light suggestion unit 31, second light suggestion unit 32, third light suggestion unit 33, fourth light suggestion unit 34 and fifth light suggestion unit 35 communication connection.
Automatic drive sensing assembly 1 configuration is the collection the environmental information in current driving road the place ahead of unmanned vehicles, and will environmental information sends to industrial computer 21, in this embodiment, automatic drive sensing assembly 1 includes camera and laser radar sensor, can pass through the image information in current driving road the place ahead is gathered to the camera, simultaneously passes through the laser radar sensor detects pedestrian or other barriers in current driving road the place ahead, but does not specifically prescribe a limit to automatic drive sensing assembly 1, as long as can realize corresponding function, can carry out corresponding selection and adjustment according to actual conditions.
The industrial personal computer 21 is configured to determine whether there is a pedestrian in a preset range in front of the current driving road by analyzing the environmental information when receiving the environmental information from the automatic driving sensing assembly 1, and if so, is further configured to generate a vehicle avoidance action signal (analog signal) and send the vehicle avoidance action signal to the automatic driving controller 22 by analyzing a moving track of the pedestrian in the environmental information, and if not, receives new environmental information again.
The automatic driving controller 22 is configured to generate a prompt signal according to the vehicle avoidance operation signal and send the prompt signal to the BCM controller 23 when receiving the vehicle avoidance operation signal from the industrial personal computer 21.
The BCM controller 23 is configured to control the light prompting module 3 to perform light prompting according to the prompt signal when receiving the prompt signal from the automatic driving controller 22.
In this embodiment, the vehicle avoidance operation signal includes a parking signal, a left turn signal, a right turn signal, an acceleration signal, or a deceleration signal.
In this embodiment, the prompt signal includes a parking prompt signal, a left turn prompt signal, a right turn prompt signal, an acceleration prompt signal, or a deceleration prompt signal.
After the vehicle decelerates, the industrial personal computer 21 is further configured to generate the parking signal and send the parking signal to the automatic driving controller 22 when recognizing that the pedestrian moves towards the advancing direction of the vehicle, and the automatic driving controller 22 is further configured to generate the parking prompt signal and control the unmanned automobile to perform parking braking when receiving the parking signal.
After the vehicle decelerates, the industrial personal computer 21 is further configured to generate the acceleration signal and send the acceleration signal to the automatic driving controller 22 when recognizing that the pedestrian does not move towards the vehicle advancing direction, and the automatic driving controller 22 is further configured to generate the acceleration prompt signal and control the unmanned automobile to accelerate when receiving the acceleration signal.
After the vehicle decelerates, the industrial personal computer 21 is configured to generate a left turn signal or a right turn signal and send the left turn signal or the right turn signal to the automatic driving controller 22 when recognizing that the pedestrian moves in the advancing direction of the vehicle and stops moving, the automatic driving controller 22 is further configured to generate the left turn prompt signal and control the unmanned automobile to turn left when receiving the left turn signal, and the automatic driving controller 22 is further configured to generate the right turn prompt signal and control the unmanned automobile to turn right when receiving the right turn signal.
As described above, although the present embodiment shows the conditions for generating and triggering the parking signal, the acceleration signal, the deceleration signal, the left turn signal and the right turn signal, respectively, it should be understood by those skilled in the art that the conditions are not limited to these conditions, and the conditions may be adjusted accordingly according to the actual situation.
In this embodiment, preferably, the first light prompting unit 31, the second light prompting unit 32, the third light prompting unit 33, the fourth light prompting unit 34, and the fifth light prompting unit 35 are vertical strip lights respectively, and are used to be disposed on a emblem of the unmanned vehicle (two lights integrated in the emblem), when 5 light prompting units are disposed, the 5 light prompting units are continuously arranged (referring to the arrangement mode of fig. 1), the first light prompting unit 31 is located at the leftmost side, the fifth light prompting unit 35 is located at the rightmost side, the third light prompting unit 33 is located at the center, the second light prompting unit 32 is located between the first light prompting unit 31 and the third light prompting unit 33, the fourth light prompting unit 34 is located between the fifth light prompting unit 35 and the third light prompting unit 33, but the type of the light prompting unit is not specifically limited, Shape and setting position, 5 light suggestion units can also set up respectively the position department of the air intake grille before unmanned vehicle (during the fuel automobile), or, can also set up respectively the position department of the front face of unmanned vehicle (to the condition that electric automobile does not have front air intake grille), all can carry out corresponding selection and adjustment according to actual conditions.
When no pedestrian is detected within a preset range in front of the front driving road, the 5 light prompting units are all configured to extinguish light.
When a pedestrian is detected in a preset range in front of the front driving road, the 5 light prompting units are all configured to light the first color.
When the deceleration notice signal is generated (the vehicle decelerates immediately after the pedestrian is detected), the second light notice unit 32 is configured to light up and flash the light of the second color, and the remaining 4 light notice units are each configured to light up the light of the first color so as to notice that the pedestrian and the vehicle are decelerating.
When the left turn signal is generated (the left turn signal in this embodiment may be a small-amplitude left turn, which is mainly aimed at avoiding pedestrians, and is distinguished from a large-amplitude left turn or turning around of the turn signal), the first light prompting unit 31 is configured to light and flash light of the second color, and the remaining 4 light prompting units are configured to light the light of the first color, so as to prompt pedestrians and vehicles to turn left next.
When the right turn signal is generated (the right turn signal in this embodiment may be a small-amplitude right turn, which is mainly aimed at avoiding pedestrians, and is different from a large-amplitude right turn or turning around of the turn signal), the fifth light prompting unit 35 is configured to light and flash light of the second color, and the remaining 4 light prompting units are configured to light the light of the first color, so as to prompt pedestrians and vehicles to turn right next.
When the acceleration prompting signal is generated, the fourth light prompting unit 34 is configured to light and flash the light of the second color, and the remaining 4 light prompting units are configured to light the light of the first color, so as to prompt the pedestrian to accelerate the vehicle in the next step, and at this time, the pedestrian may stop moving first to wait for the vehicle to pass through after passing through.
When the parking prompting signal is generated, the third light prompting unit 33 is configured to light and flash light of the second color, and the remaining 4 light prompting units are configured to light the light of the first color, so that the pedestrian is prompted that the vehicle is braking until the vehicle stops, and at this time, the pedestrian can wait for the vehicle to stop and then pass through with confidence.
In this embodiment, the first color is preferably white, and the second color is preferably green, but the first color and the second color are not particularly limited, and the second color can be selected according to actual situations as long as the second color is different from the first color.
But the suggestion device of unmanned vehicle that this embodiment provided the removal orbit of intelligent recognition pedestrian to help the pedestrian to understand the action on next step of unmanned vehicle better through control light suggestion module, prevented effectively that the pedestrian from to the vehicle condition of judging the error of orbit of marcing, thereby avoided the unnecessary traffic accident, the driving efficiency of unmanned vehicle has been improved, moreover, the suggestion device of unmanned vehicle that this embodiment provided not only changes the system with low costsly, and is simple and practical, the place ahead field of vision of driver still is not influenced.
The embodiment also provides an unmanned automobile, the unmanned automobile comprises the prompting device of the unmanned automobile, and the unmanned automobile can be a fuel automobile and also can be an electric automobile.
The embodiment also provides a prompting method of the unmanned automobile, which is realized by utilizing the prompting device of the unmanned automobile.
As shown in fig. 2, the prompting method includes the following steps:
In this step, the autopilot sensing assembly collects environmental information in front of the current driving road of the unmanned vehicle and sends the environmental information to the industrial personal computer.
And 102, judging whether a pedestrian is detected in a preset range in front of the current driving road, if so, executing the step 102, and if not, executing the step 101 again.
In this step, when the industrial personal computer receives the environment information from the automatic driving sensing assembly, whether pedestrians exist in a preset range in front of the current driving road is judged by analyzing the environment information, if yes, step 102 is executed, and if not, step 101 is executed again.
And 103, decelerating the vehicle and prompting light.
In this step, when detecting the pedestrian in the predetermined within range in the preceding driving road the place ahead, the industrial computer generates the deceleration signal and sends to automatic drive controller, receives as automatic drive controller during the deceleration signal, generates the suggestion signal that slows down, and control unmanned automobile slows down, detects vehicle the place ahead promptly and has the pedestrian to pass through when far away, guarantees to make unmanned automobile slow down earlier the very first time.
When no pedestrian is detected in the preset range in front of the front driving road, the 5 light prompting units all extinguish the lights.
When a pedestrian is detected in a preset range in front of the front driving road, the 5 light prompting units all light up the light with the first color.
And 104, generating a vehicle avoidance action signal according to the moving track of the pedestrian.
In the step, the industrial personal computer further generates a vehicle avoidance action signal by analyzing the moving track of the pedestrian in the environment information and sends the vehicle avoidance action signal to the automatic driving controller.
Specifically, after the vehicle is decelerated, when the industrial personal computer recognizes that the pedestrian moves towards the advancing direction of the vehicle, a parking signal is generated and sent to the automatic driving controller; when the industrial personal computer identifies that the pedestrian cannot move towards the advancing direction of the vehicle, an acceleration signal is generated and sent to the automatic driving controller; when the pedestrian is identified to be in the vehicle advancing direction and stop moving, a left turn signal or a right turn signal is generated and sent to the automatic driving controller.
As described above, although the present embodiment shows the conditions for generating and triggering the parking signal, the acceleration signal, the deceleration signal, the left turn signal and the right turn signal, respectively, it should be understood by those skilled in the art that the conditions are not limited to these conditions, and the conditions may be adjusted accordingly according to the actual situation.
And 105, generating a prompt signal according to the vehicle avoiding action signal.
In the step, when the automatic driving controller receives the vehicle avoidance action signal from the industrial personal computer, a prompt signal is generated according to the vehicle avoidance action signal and is sent to the BCM controller.
Specifically, when the automatic driving controller receives the parking signal, a parking prompt signal is generated; when the automatic driving controller receives the acceleration signal, generating an acceleration prompt signal; when the automatic driving controller receives the left turn signal, generating a left turn prompt signal; and when the automatic driving controller receives the right turn signal, generating a right turn prompt signal.
And 106, the vehicle executes the avoidance action and carries out light prompt.
In the step, when the BCM controller receives a prompt signal from the automatic driving controller, the light prompt module is controlled to prompt light according to the prompt signal.
Specifically, when the deceleration prompting signal is generated (after the pedestrian is detected, the vehicle decelerates immediately), the automatic driving controller controls the vehicle to decelerate, the second light prompting unit lights up and flickers the light of the second color, and the remaining 4 light prompting units all light up the light of the first color, so that the pedestrian is prompted that the vehicle is decelerating.
When generating during the turn left cue signal (the turn left signal of this embodiment can be the turn left of small-amplitude, and its main objective is dodged the pedestrian, and is different from turning to the left or turning around by a wide margin of indicator), the automatic drive controller control vehicle turns left, and first light cue unit lights and twinkles the light of second colour to all light of remaining 4 light cue units all lights the light of first colour, so that suggestion pedestrian vehicle will turn left on next step.
When generating during the right turn cue signal (the right turn signal of this embodiment can be the right turn of small-amplitude, and its main objective is dodged the pedestrian, and is different from turning to the right or turning around by a wide margin of indicator), the automatic drive controller control vehicle turns to the right, and fifth light cue unit lights and twinkles the light of second colour, and all lights of remaining 4 light cue units the light of first colour to make the suggestion pedestrian vehicle will turn to the right on next step.
When generating when promoting the prompt signal with higher speed, the automatic driving controller control vehicle accelerates, and fourth light prompt unit lights and twinkles the light of second colour to remaining 4 light prompt units all light the light of first colour to make the suggestion pedestrian vehicle will accelerate on next step, at this moment, the pedestrian can stop earlier and wait for the vehicle to pass through again after the process.
When generating during the parking cue signal, the automatic drive controller control vehicle carries out parking braking, and third light suggestion unit lights and twinkles the light of second colour to all light of remaining 4 light suggestion units all lights the light of first colour to make the suggestion pedestrian vehicle braking until stopping, at this moment, the pedestrian can wait to let us ease the passing through after the vehicle stops.
In this embodiment, the first color is preferably white, and the second color is preferably green, but the first color and the second color are not particularly limited, and the second color can be selected according to actual situations as long as the second color is different from the first color.
The prompting method of the unmanned automobile provided by the embodiment can intelligently identify the moving track of the pedestrian, help the pedestrian better understand the next action of the unmanned automobile by controlling the light prompting module, effectively prevent the pedestrian from judging the wrong condition of the advancing track of the automobile, avoid unnecessary traffic accidents, improve the driving efficiency of the unmanned automobile, and is low in modification cost, simple and practical and free of influencing the front view of the driver.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (23)
1. A prompting device of an unmanned automobile is characterized by comprising:
the vehicle control module is configured to generate a vehicle avoidance action signal according to a moving track of a pedestrian when the pedestrian is detected in a preset range in front of a current driving road of the unmanned automobile, and generate a prompt signal according to the vehicle avoidance action signal; and the number of the first and second groups,
the light prompting module is in communication connection with the vehicle control module and is configured to perform light prompting according to the prompting signal;
the light prompting module comprises a first light prompting unit, a second light prompting unit, a third light prompting unit, a fourth light prompting unit and a fifth light prompting unit, when 5 light prompting units are arranged, the 5 light prompting units are respectively arranged at the front position of the unmanned automobile, and the 5 light prompting units are continuously arranged.
2. The notification device of claim 1, further comprising an autopilot sensing component;
the automatic driving sensing assembly is in communication connection with the vehicle control module;
the automatic driving sensing assembly is configured to collect environmental information in front of a current driving road and send the environmental information to the vehicle control module.
3. The prompting device of claim 2, wherein the autopilot sensing assembly includes a camera and a lidar sensor.
4. The prompting device of claim 2, wherein the vehicle control module comprises an industrial personal computer, an automatic driving controller and a BCM controller;
the industrial personal computer is in communication connection with the automatic driving sensing assembly;
the automatic driving controller is respectively in communication connection with the industrial personal computer and the BCM controller;
the industrial personal computer is configured to judge whether pedestrians exist in a preset range in front of the current driving road or not by analyzing the environmental information when the environmental information is received from the automatic driving sensing assembly, and if yes, the industrial personal computer is further configured to generate a vehicle avoidance action signal and send the vehicle avoidance action signal to the automatic driving controller by analyzing the moving track of the pedestrians in the environmental information;
the automatic driving controller is configured to generate the prompt signal according to the vehicle avoidance action signal and send the prompt signal to the BCM controller when the vehicle avoidance action signal is received from the industrial personal computer;
the BCM controller is configured to control the light prompting module to perform light prompting according to the prompting signal when the prompting signal is received from the automatic driving controller.
5. The warning device of claim 4, wherein the vehicle avoidance maneuver signal comprises a park signal, a left turn signal, a right turn signal, an acceleration signal, or a deceleration signal;
the prompting signals comprise parking prompting signals, left-turning prompting signals, right-turning prompting signals, acceleration prompting signals or deceleration prompting signals;
the industrial personal computer is also configured to generate a deceleration signal and send the deceleration signal to the automatic driving controller when a pedestrian is detected in a preset range in front of a previous driving road;
the autonomous driving controller is configured to generate the deceleration prompting signal and control the unmanned automobile to decelerate when the deceleration signal is received.
6. The prompting device of claim 5, wherein the industrial personal computer is configured to generate the parking signal and send the parking signal to the automatic driving controller when recognizing that the pedestrian moves in a forward direction of the vehicle, and the automatic driving controller is further configured to generate the parking prompting signal and control the unmanned automobile to perform parking braking when receiving the parking signal;
the industrial personal computer is configured to generate the acceleration signal and send the acceleration signal to the automatic driving controller when recognizing that the pedestrian does not move towards the advancing direction of the vehicle, and the automatic driving controller is further configured to generate the acceleration prompt signal and control the unmanned automobile to accelerate when receiving the acceleration signal;
the industrial computer is configured as when discerning the pedestrian at vehicle advancing direction and when stopping moving, generates turn left signal or turn right signal and send to automatic drive controller, automatic drive controller still configures as when receiving when turning left the signal, generate the cue signal turns left, and control unmanned automobile carries out the turn left, automatic drive controller still configures as when receiving when turning right the signal, generate the cue signal turns right, and control unmanned automobile carries out the turn right.
7. The prompting device of claim 6, wherein the light prompting module comprises a first light prompting unit, a second light prompting unit, a third light prompting unit, a fourth light prompting unit and a fifth light prompting unit;
when a pedestrian is detected in a preset range in front of the front driving road, the 5 light prompting units are all configured to light the light with the first color;
when the left-turn prompting signal is generated, the first light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the right turn prompting signal is generated, the fifth light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the acceleration prompting signal is generated, the fourth light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the deceleration prompting signal is generated, the second light prompting unit is configured to light up light of a second color, and the rest 4 light prompting units are configured to light up light of the first color;
when the parking prompting signal is generated, the third light prompting unit is configured to light the light of the second color, and the rest 4 light prompting units are configured to light the light of the first color.
8. The warning device as claimed in claim 7, wherein the first light warning unit, the second light warning unit, the third light warning unit, the fourth light warning unit and the fifth light warning unit are vertical strip lights respectively.
9. The prompting device of claim 7, wherein 5 light prompting units are respectively arranged on the logos of the unmanned vehicles; or the like, or, alternatively,
the 5 light prompting units are respectively arranged at the positions of the front air grids of the unmanned automobile; or the like, or, alternatively,
and the 5 light prompting units are respectively used for being arranged at the positions of the front face of the unmanned automobile.
10. The prompting device according to claim 7, wherein when 5 light prompting units are provided, the 5 light prompting units are arranged in a continuous manner, the first light prompting unit is located at the leftmost side, the fifth light prompting unit is located at the rightmost side, the third light prompting unit is located at the center, the second light prompting unit is located between the first light prompting unit and the third light prompting unit, and the fourth light prompting unit is located between the fifth light prompting unit and the third light prompting unit.
11. The notification apparatus of claim 7, wherein the first color comprises white and the second color comprises green.
12. An unmanned vehicle comprising a reminder device for an unmanned vehicle according to any one of claims 1 to 11.
13. A prompting method of an unmanned automobile is characterized by comprising the following steps:
when a vehicle control module detects a pedestrian in a preset range in front of a current driving road of the unmanned automobile, generating a vehicle avoidance action signal according to a moving track of the pedestrian, and generating a prompt signal according to the vehicle avoidance action signal;
the light prompting module carries out light prompting according to the prompting signal, the light prompting module comprises a first light prompting unit, a second light prompting unit, a third light prompting unit, a fourth light prompting unit and a fifth light prompting unit, when 5 light prompting units are arranged, the 5 light prompting units are respectively arranged at the front position of the unmanned automobile, and the 5 light prompting units are continuously arranged and arranged.
14. A prompting method according to claim 13, further comprising the steps of:
the automatic driving sensing assembly collects environmental information in front of a current driving road and sends the environmental information to the vehicle control module.
15. The prompting method of claim 14, wherein the autopilot sensing component comprises a camera and a lidar sensor.
16. The prompting method of claim 14, wherein the vehicle control module comprises an industrial personal computer, an automatic driving controller and a BCM controller;
when the industrial personal computer receives the environmental information from the automatic driving sensing assembly, whether pedestrians exist in a preset range in front of the current driving road is judged by analyzing the environmental information, if yes, the vehicle avoidance action signal is generated by analyzing the moving track of the pedestrians in the environmental information and is sent to the automatic driving controller;
when the automatic driving controller receives the vehicle avoidance action signal from the industrial personal computer, the prompt signal is generated according to the vehicle avoidance action signal and is sent to the BCM controller;
and when the BCM controller receives the prompt signal from the automatic driving controller, controlling the light prompt module to prompt light according to the prompt signal.
17. The prompting method of claim 16, wherein the vehicle avoidance action signal comprises a park signal, a left turn signal, a right turn signal, an acceleration signal, or a deceleration signal;
the prompting signals comprise parking prompting signals, left-turning prompting signals, right-turning prompting signals, acceleration prompting signals or deceleration prompting signals;
when the industrial personal computer detects a pedestrian in a preset range in front of a preceding driving road, generating a deceleration signal and sending the deceleration signal to the automatic driving controller;
and when the automatic driving controller receives the deceleration signal, generating the deceleration prompt signal and controlling the unmanned automobile to decelerate.
18. The prompting method of claim 17, wherein, after the pedestrian is detected and accelerated,
when the industrial personal computer identifies that the pedestrian moves towards the advancing direction of the vehicle, the parking signal is generated and sent to the automatic driving controller, and when the automatic driving controller receives the parking signal, the parking prompt signal is generated and the unmanned vehicle is controlled to perform parking braking;
when the industrial personal computer identifies that the pedestrian does not move towards the advancing direction of the vehicle, the acceleration signal is generated and sent to the automatic driving controller, and when the automatic driving controller receives the acceleration signal, the acceleration prompt signal is generated and the unmanned automobile is controlled to accelerate;
when the industrial computer discerned the pedestrian and at vehicle advancing direction and when stopping moving, generated turn left signal or turn right signal and send to automatic drive controller works as automatic drive controller receives during the turn left signal, generate the turn left cue signal, and control unmanned automobile carries out the turn left, works as automatic drive controller receives during the turn right signal, generates the turn right cue signal, and control unmanned automobile carries out the turn right.
19. A prompting method as defined in claim 18, wherein the light prompting module comprises a first light prompting unit, a second light prompting unit, a third light prompting unit, a fourth light prompting unit and a fifth light prompting unit;
when a pedestrian is detected in a preset range in front of the front driving road, the 5 light prompting units all light with the first color;
when the left-turn prompting signal is generated, the first light prompting unit lights up light of a second color, and the rest 4 light prompting units light up light of the first color;
when the right turn prompting signal is generated, the fifth light prompting unit lights up light of a second color, and the rest 4 light prompting units light up light of the first color;
when the acceleration prompting signal is generated, the fourth light prompting unit lights the light of the second color, and the rest 4 light prompting units light the light of the first color;
when the deceleration prompting signal is generated, the second light prompting unit lights the light of the second color, and the rest 4 light prompting units light the light of the first color;
when the parking prompting signal is generated, the third light prompting unit lights the light with the second color, and the rest 4 light prompting units light the light with the first color.
20. A prompting method as defined in claim 19, wherein the first light prompting unit, the second light prompting unit, the third light prompting unit, the fourth light prompting unit and the fifth light prompting unit are respectively vertical strip lights.
21. A prompting method as claimed in claim 19, wherein 5 light prompting units are respectively provided on the emblems of the unmanned vehicle; or the like, or, alternatively,
the 5 light prompting units are respectively arranged at the positions of the front air grids of the unmanned automobile; or the like, or, alternatively,
and the 5 light prompting units are respectively arranged at the positions of the front face of the unmanned automobile.
22. A prompting method as defined in claim 19, wherein when 5 light prompting units are provided, the 5 light prompting units are arranged in a continuous manner, the first light prompting unit is located at the leftmost side, the fifth light prompting unit is located at the rightmost side, the third light prompting unit is located at the center, the second light prompting unit is located between the first light prompting unit and the third light prompting unit, and the fourth light prompting unit is located between the fifth light prompting unit and the third light prompting unit.
23. A method as recited in claim 19, wherein the first color comprises white and the second color comprises green.
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| CN111306507A (en) * | 2018-12-12 | 2020-06-19 | 比亚迪股份有限公司 | Dynamic indicator lamp and car lamp thereof |
| CN110077314A (en) * | 2019-04-03 | 2019-08-02 | 浙江吉利控股集团有限公司 | A kind of information interacting method of automatic driving vehicle, system and electronic equipment |
| CN110077315A (en) * | 2019-04-30 | 2019-08-02 | 禾多科技（北京）有限公司 | Automatic Pilot indicator lamp system |
| CN110606019A (en) * | 2019-08-27 | 2019-12-24 | 中国第一汽车股份有限公司 | Pedestrian giving method and device for automatic driving of vehicle, vehicle and storage medium |
| CN110803101A (en) * | 2019-12-09 | 2020-02-18 | 新石器慧通（北京）科技有限公司 | Method and device for prompting driving state of unmanned vehicle |
| CN111091591B (en) | 2019-12-23 | 2023-09-26 | 阿波罗智联(北京)科技有限公司 | Collision detection method and device, electronic equipment and storage medium |
| CN111223334A (en) * | 2020-01-19 | 2020-06-02 | 上海汽车集团股份有限公司 | Pedestrian reminding method and device applied to unmanned vehicle |
| CN111332192A (en) * | 2020-02-18 | 2020-06-26 | 北京九曜智能科技有限公司 | Human-vehicle light interaction device for automatic driving |
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| TWM246202U (en) * | 2003-05-20 | 2004-10-11 | Exon Science Inc | Vehicular door handle module |
| CN102096803B (en) * | 2010-11-29 | 2013-11-13 | 吉林大学 | Safe state recognition system for people on basis of machine vision |
| CN105976457A (en) * | 2016-07-12 | 2016-09-28 | 百度在线网络技术（北京）有限公司 | Method and device for indicating driving dynamic state of vehicle |
| CN206394528U (en) * | 2016-08-22 | 2017-08-11 | 上海小糸车灯有限公司 | A kind of intelligent automotive light of circular autonomous driving vehicle vehicle body |
| CN207089118U (en) * | 2017-06-16 | 2018-03-13 | 北京智行者科技有限公司 | For low speed automatic driving vehicle information alarming device and there is its vehicle |
| CN107651015B (en) * | 2017-08-21 | 2020-08-18 | 宝沃汽车（中国）有限公司 | Method and device for assisting in driving, computer-readable storage medium and vehicle |
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