CN109147352B - Control system and method for safe and intelligent driving of automobile traffic light zebra crossing - Google Patents
Control system and method for safe and intelligent driving of automobile traffic light zebra crossing Download PDFInfo
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- CN109147352B CN109147352B CN201811302911.4A CN201811302911A CN109147352B CN 109147352 B CN109147352 B CN 109147352B CN 201811302911 A CN201811302911 A CN 201811302911A CN 109147352 B CN109147352 B CN 109147352B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The invention discloses a control system for safe and intelligent driving of a zebra crossing of an automobile traffic light, which comprises a crossroad radar, an in-automobile radar, a GPS satellite transmitter, a vehicle control unit, a screen display, a voice broadcaster, a braking system, a speed sensor, a distance sensor and a traffic light intelligent platform, wherein the GPS satellite transmitter is used for converting traffic light signals sent by the traffic light intelligent platform. The invention has the beneficial effects that: the invention can replace the person to predict the deceleration in advance, give the pedestrian a gift or stop at the crossroad of the zebra crossing traffic lights in the motor vehicle of 'manual driving', and create more safety conditions for the pedestrian to cross the road; the invention effectively reduces or stops traffic accidents at the crossroads of the zebra crossing traffic lights, reduces the number of dead people and saves lives of more people; the invention has clear and simple structure principle and convenient assembly, can be used for new energy development industry, can be applied in industrialization and batch, and is convenient for popularization.
Description
Technical Field
The invention relates to a control system, in particular to a control system and a control method for safe and intelligent driving of a traffic light zebra crossing of an automobile, and belongs to the technical field of control system application.
Background
According to data issued by the traffic administration of the ministry of public security, 1.4 thousands of motor vehicle and pedestrian traffic accidents happen on zebra crossings in China in nearly three years, resulting in 3898 people death, wherein accidents caused by motor vehicles not giving way according to regulations account for 90% of the total amount. From the analysis of the causes of accidents, the motor vehicles do not give way according to the regulations when passing through the pedestrian crossing, and the motor vehicles passing through the green light and running through the red light are subjected to accidents. Statistically, the accidents caused by the failure of the motor vehicle to yield as specified account for 90 percent of the total number.
Data show that the intersection is a potential dangerous area, the positions of pedestrians and the selected routes when the pedestrians cross the road, and other pedestrians cross the intersection in a dangerous mode, and the excessively crowded intersection causes the road to become more dangerous, has more people and more vehicles and is difficult to cross the road, is an objective factor needing to be considered for correcting the Chinese-style road crossing, and if the environment generating problems is not changed, the behaviors of other traffic participants corresponding to the pedestrians are not standard, and the bad learning that the pedestrians run the red light is probably difficult to be pulled up.
Disclosure of Invention
The invention aims to provide a control system and a control method for safe and intelligent driving of a zebra crossing of an automobile traffic light, which aims to solve the problems that the position of a pedestrian when the pedestrian crosses a road, the route of the pedestrian, other pedestrians pass through an intersection in a dangerous way, and an excessively crowded intersection makes the road more dangerous, if the environment with problems is not changed, the behaviors of other traffic participants corresponding to the pedestrian are not standard, and the bad habit of the pedestrian running the red light is probably difficult to be pulled up.
The purpose of the invention can be realized by the following technical scheme: a control system for safe and intelligent driving of an automobile traffic light zebra crossing comprises a crossroad radar, an in-automobile radar, a GPS satellite transmitter, a vehicle control unit, a screen display, a voice broadcaster, a brake system, a speed sensor, a distance sensor and a traffic light intelligent platform, wherein the crossroad radar is arranged above a crossroad telegraph pole of the zebra crossing, the in-automobile radar is arranged at the upper left corner of a front instrument desk of the automobile, the GPS satellite transmitter is used for converting traffic light signals sent by the traffic light intelligent platform, the vehicle control unit is arranged at a right side maintenance opening of the front instrument desk of the automobile, the screen display is arranged at the upper right corner of the front instrument desk of the automobile, the voice broadcaster is arranged in an air duct above a driver seat of the automobile, the brake system is arranged below the front instrument desk of the automobile, and the brake system has an intelligent function of automatically opening and closing angles, the speed sensors are arranged on tires at the front end and the rear end of the vehicle, the distance sensors are arranged below an instrument desk at the front end of the vehicle, and the distance between each distance sensor and the ground is 60 mm;
the crossroad radar, the in-vehicle radar and the GPS satellite transmitter are in communication connection through a G network, the vehicle control unit is used for processing and executing signals, and the screen display is used for displaying the distance from a vehicle to a zebra crossing, the distance from a pedestrian obstacle, the time for changing a green light into a red light and the time for changing the red light into the green light;
the voice broadcaster is used for broadcasting the distance from the vehicle to the zebra crossing, the distance from the vehicle to a pedestrian barrier, the time for changing the green light into the red light and the time for changing the red light into the green light by voice;
the front wheel and the rear wheel of the vehicle are respectively provided with a speed sensor, and the front direction, the rear direction, the left direction and the right direction of the vehicle are respectively provided with a distance sensor.
The invention has the further technical improvement scheme that: the braking system sends a signal to the vehicle control unit according to the signal of the distance L1 between the vehicle intersection radar and the vehicle radar, and the vehicle control unit automatically controls the opening and closing angle according to the obtained distance signal and speed signal and a calibrated braking curve, and gives the vehicle the braking force larger than or smaller than the safe distance L, so that the vehicle can be intelligently braked and decelerated.
The invention has the further technical improvement scheme that: when the distance L1 between the radar at the crossroad and the radar in the vehicle is smaller than the safe distance L, the vehicle controller controls the vehicle to enter a traffic light intelligent driving mode, and meanwhile, the voice broadcaster continuously broadcasts the warning of the distance from the vehicle to the zebra crossing along with the advancing of the vehicle.
The invention has the further technical improvement scheme that: when the vehicle enters an intelligent driving control mode, the distance and the speed between the vehicle and the zebra crossing are continuously displayed on a screen display through conversion of speed and distance signals on the speed sensor and the distance sensor by the vehicle control unit.
The invention has the further technical improvement scheme that: the vehicle control unit adopts an international advanced vehicle microprocessor, receives and converts radar signals, displays the radar signals on a screen display, reports prompts through a voice broadcaster, executes secondary judgment, controls a braking system to decelerate, and realizes the traffic light intelligent driving mode function.
The invention has the further technical improvement scheme that: the vehicle control unit collects red light signals transmitted by a crossroad radar through an in-vehicle radar, and when a vehicle does not enter a safe distance, a screen display and a voice broadcast device continuously display data and broadcast prompts;
when the vehicle enters the safe distance, the first distance judgment is carried out, after the intelligent driving of the vehicle is started, the screen display and the voice broadcast device continuously display data and broadcast prompts, the vehicle carries out the second judgment, the vehicle control unit receives signals through the speed sensor, starts to control the braking system to complete the speed reduction or the parking, and the vehicle exits the intelligent driving mode of the traffic lights.
The invention has the further technical improvement scheme that: the vehicle control unit collects traffic light signals transmitted by a crossroad radar through an in-vehicle radar, and when a vehicle is on a straight road, the vehicle executes operation according to an intelligent driving mode and slowly passes through the crossroad;
when the straight road is red, the vehicle control unit judges according to the direction lamp signal, and after the vehicle changes the road, secondary signal acquisition is carried out on the crossroad radar.
The invention has the further technical improvement scheme that: the traffic light intelligent platform sends the traffic light signals of each time period to the crossroad radar through network conversion signals sent by the GPS satellite transmitter, the vehicle acquires the signals of the crossroad radar through the in-vehicle radar to judge the distance, and then sends the signals to the vehicle control unit to execute whether the vehicle enters the traffic light intelligent driving.
The invention has the further technical improvement scheme that: the GPS satellite transmitter is used for transmitting road route information, the GPS satellite transmitter is output to the vehicle control unit through the in-vehicle radar and controls the vehicle to run on the determined route, the GPS satellite transmitter is used for receiving signals of traffic lights of the traffic light intelligent platform, the GPS satellite transmitter sends the signals to the crossroad radar, and the vehicle control unit judges whether the vehicle enters an intelligent traffic light driving mode or not through the distance between the crossroad radar and the in-vehicle radar.
The distance sensor adopts a somatosensory distance sensor, when a vehicle slowly travels in a green light, the vehicle can encounter pedestrians or obstacles, and the vehicle is limited in speed to slowly travel in a traffic light intelligent driving mode within a safe distance range; when the distance between the vehicle and the person is smaller than the safety distance, the vehicle stops advancing in the traffic light intelligent driving mode;
the speed sensors are arranged on the front wheels and the rear wheels, the numerical values of the speed sensors are subjected to error line-up in the design process, the detected and judged vehicle speed is larger than the actual vehicle speed, the vehicle can enter a traffic light intelligent driving mode in an early stage, a signal is sent to the vehicle control unit, and the braking system is controlled to start to decelerate or stop.
A control method for safe and intelligent driving of a traffic light zebra crossing of an automobile comprises the following specific steps: the method comprises the steps that network conversion signals sent by a GPS satellite transmitter between a crossroad radar and an in-vehicle radar are acquired, the distance L1 between the crossroad radar and the in-vehicle radar and a speed V1 signal are acquired, the safe distance L from a vehicle to a zebra crossing and the safe speed V are set, when the distance L1 between the vehicle crossroad radar and the in-vehicle radar is larger than or equal to the safe distance L from the vehicle to the zebra crossing, the vehicle exits from an intelligent driving state, otherwise, a vehicle controller processes the signals, the distance from the current vehicle to the zebra crossing and the current speed are displayed on a screen display, the vehicle is controlled to enter an intelligent driving control mode to perform second judgment, when the current speed V1 of the vehicle is smaller than or equal to the safe speed V, the vehicle exits from the intelligent driving state, otherwise, the vehicle controller processes the signals, and displays the distance from the current vehicle to the zebra crossing and the current speed on the screen display, and controlling the vehicle to enter an intelligent driving control mode to decelerate the braking system, judging that the vehicle reaches a safe speed V or below according to the data transmitted by the speed sensor, and exiting the intelligent driving mode state of the traffic light.
Compared with the prior art, the invention has the beneficial effects that:
1. acquiring a distance L1 and a speed V1 signal between the intersection radar and the in-vehicle radar through a network conversion signal sent by a GPS satellite transmitter between the intersection radar and the in-vehicle radar, setting a safe distance L and a safe speed V between the vehicle 11 and the zebra crossing, and when the distance L1 between the intersection radar and the in-vehicle radar is greater than or equal to the safe distance L between the vehicle and the zebra crossing, enabling the vehicle to exit from an intelligent driving state; otherwise, the vehicle control unit processes the signal, displays the distance from the current vehicle to the zebra crossing and the current speed on a screen display, controls the vehicle to enter an intelligent driving control mode for second judgment, and exits the intelligent driving state when the current speed V1 of the vehicle is less than or equal to the safe speed V; otherwise, the vehicle control unit processes the signal, displays the distance from the current vehicle to the zebra crossing and the current speed on a screen display, controls the vehicle to enter an intelligent driving control mode to decelerate the braking system, judges that the speed reaches below the safe speed V according to the data transmitted by the speed sensor, and exits the traffic light intelligent driving mode state.
2. The invention can replace the situation that people can predict the deceleration in advance and give a gift to the pedestrians or stop at the crossroad of the zebra crossing traffic light in the motor vehicle of 'manual driving', thereby creating more safety conditions for the pedestrians to cross the road.
3. The invention effectively reduces or stops traffic accidents at the crossroads of the zebra crossing traffic lights, reduces the number of dead people and saves lives of more people.
4. The invention realizes the functions of intelligent driving, traffic light identification, pedestrian avoidance and the like of vehicles at the crossroads of the zebra crossing traffic light in the use of unmanned motor vehicles, and enters the unmanned driving era.
5. The invention scientifically and reasonably develops the intelligent driving technology to bring safety and convenience to traffic regulation, greatly reduces the loss caused by accidents, and improves the safety of personnel and vehicle driving.
6. The invention installs radar receivers at the crossroads of the zebra crossing traffic lights, is more convenient to debug and maintain under a 5G network, only two receivers are needed at each intersection, the use and instability of the traffic lights are reduced, the traffic supervision is improved, and the resource waste is reduced.
7. The invention accelerates the pace of new energy vehicles entering the internet era and strengthens the monitoring and control strength of the new energy vehicles.
8. The invention has clear and simple structure principle and convenient assembly, can be used for new energy development industry, can be applied in industrialization and batch, and is convenient for popularization.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a front view of a vehicle according to the present invention.
Fig. 2 is a sectional view of a vehicle according to the present invention.
Fig. 3 is a schematic view of the installation of the intersection radar of the present invention.
Fig. 4 is a schematic structural diagram of a GPS satellite transmitter according to the present invention.
Fig. 5 is a schematic structural diagram of the principle of the present invention.
Fig. 6 is a flowchart of the operation of embodiment 1 of the present invention.
Fig. 7 is a flowchart of the operation of embodiment 2 of the present invention.
Fig. 8 is a flowchart of the operation of embodiment 3 of the present invention.
In the figure: 1. a crossroad radar; 2. an in-vehicle radar; 3. a GPS satellite transmitter; 4. a vehicle control unit; 5. a screen display; 6. a voice broadcaster; 7. a braking system; 8. a speed sensor; 9. a distance sensor; 10. a traffic light intelligent platform; 11. a vehicle; 12. a tire; 13. a crossroad utility pole; 14. a front end instrument desk; 15. an access hole; 16. a driver seat; 17. an air duct.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, a control system for safe and intelligent driving of a traffic light zebra crossing of an automobile comprises a crossroad radar 1, an in-automobile radar 2, a GPS satellite transmitter 3, a vehicle control unit 4, a screen display 5, a voice broadcaster 6, a brake system 7, a speed sensor 8, a distance sensor 9 and a traffic light intelligent platform 10, wherein the crossroad radar 1 is arranged above a crossroad telegraph pole 13 of the zebra crossing, the in-automobile radar 2 is arranged at the upper left corner of a front instrument desk 14 of the automobile 11, the GPS satellite transmitter 3 is used for converting traffic light signals sent by the traffic light intelligent platform 10, the vehicle control unit 4 is arranged at a right side access hole 15 of the front instrument desk 14 of the automobile 11, the screen display 5 is arranged at the upper right corner of the front instrument desk 14 of the automobile 11, the voice broadcaster 6 is arranged in an air duct 17 above a driver seat 16 of the automobile 11, the braking system 7 is arranged below a front end instrument desk 14 of the vehicle 11, the braking system 7 has an intelligent function of automatic opening and closing angles, the speed sensors 8 are arranged on tires 12 at the front end and the rear end of the vehicle 11, the distance sensor 9 is arranged below the front end instrument desk 14 of the vehicle 11, and the distance between the distance sensor 9 and the ground is 60 mm;
the crossroad radar 1, the in-vehicle radar 2 and the GPS satellite transmitter 3 are all in communication connection through a 5G network, the vehicle control unit 4 is used for processing and executing signals, and the screen display 5 is used for displaying the distance from the vehicle 11 to a zebra crossing, the distance from a pedestrian obstacle, the time for changing a green light into a red light and the time for changing the red light into the green light;
the voice broadcaster 6 is used for broadcasting the distance from the vehicle 11 to the zebra crossing, the distance from the pedestrian barrier, the time for changing the green light into the red light and the time for changing the red light into the green light by voice;
one speed sensor 8 is mounted on each of the front and rear wheels of the vehicle 11, and one distance sensor 9 is mounted in each of the front, rear, left, and right directions of the vehicle 11.
As a technical optimization scheme of the invention, the braking system 7 sends a signal to the vehicle control unit 4 according to the signal of the distance L1 between the vehicle intersection radar 1 and the in-vehicle radar 2, the vehicle control unit 4 automatically controls the opening and closing angle according to the obtained distance signal and speed signal and a calibrated braking curve, and the braking force greater than or less than the safe distance L is given to the vehicle, so that the vehicle can be intelligently braked and decelerated.
As a technical optimization scheme of the invention, when the distance L1 between the radar 1 at the intersection and the radar 2 in the vehicle is smaller than the safety distance L, the vehicle controller 4 controls the vehicle 11 to enter a traffic light intelligent driving mode, and meanwhile, the voice broadcaster 6 broadcasts the distance from the vehicle 11 to the zebra crossing continuously along with the advancing of the vehicle 11 for warning.
As a technical optimization scheme of the invention, when a vehicle 11 enters an intelligent driving control mode, the distance and the speed from the vehicle to a zebra crossing are continuously displayed on a screen display 5 by converting speed and distance signals on a speed sensor 8 and a distance sensor 9 through a vehicle control unit 4.
As a technical optimization scheme of the invention, the vehicle control unit 4 adopts an international advanced vehicle microprocessor, the vehicle control unit 4 receives and converts radar signals, displays the radar signals on the screen display 5, broadcasts prompts through the voice broadcaster 6, executes secondary judgment, controls the brake system 7 to decelerate, and realizes the traffic light intelligent driving mode function.
As a technical optimization scheme of the invention, the vehicle control unit 4 collects red light signals transmitted by the crossroad radar 1 through the in-vehicle radar 2, the vehicle 11 does not enter a safe distance, and the screen display 5 and the voice broadcast device 6 continuously display data and broadcast prompts;
when the vehicle 11 starts intelligent driving, the screen display 5 and the voice broadcast device 6 continuously display data and broadcast prompts, the vehicle 11 performs second judgment, the vehicle control unit 4 receives signals through the speed sensor 8 and starts to control the braking system 7 to complete deceleration or parking, and the vehicle 11 exits from the traffic light intelligent driving mode.
As a technical optimization scheme of the invention, a vehicle control unit 4 collects traffic light signals transmitted by a crossroad radar 1 through an in-vehicle radar 2, when a vehicle 11 is in a straight road, the vehicle 11 executes operation according to an intelligent driving mode and slowly passes through the crossroad;
when the straight road is red, the vehicle control unit 4 judges according to the direction lamp signal, and after the vehicle 11 changes the road, secondary signal acquisition is carried out on the crossroad radar 1, when the road is red, the vehicle enters intelligent driving for deceleration and parking, otherwise, the vehicle is decelerated and slowly turned to pass through.
As a technical optimization scheme of the invention, the traffic light intelligent platform 10 sends the traffic light signals of each time period to the intersection radar 1 through the network conversion signals sent by the GPS satellite transmitter 3, the vehicle 11 collects the signals of the intersection radar 1 through the in-vehicle radar 2 to judge the distance, and then sends the signals to the vehicle control unit to execute whether the vehicle 11 enters the traffic light intelligent driving.
As a technical optimization scheme of the invention, the GPS satellite transmitter 3 is used for transmitting road route information, the GPS satellite transmitter 3 is output to the vehicle control unit 4 through the in-vehicle radar 2 to control the vehicle 11 to run on a determined route, the GPS satellite transmitter 3 is used for receiving signals of traffic lights of the traffic light intelligent platform 10, the GPS satellite transmitter 3 transmits the signals to the crossroad radar 1, and the vehicle control unit 4 judges whether the vehicle 11 enters a traffic light intelligent driving mode or not through the distance between the crossroad radar 1 and the in-vehicle radar 2.
The distance sensor 9 adopts a somatosensory distance sensor, when the vehicle slowly travels in a green light, the vehicle can encounter pedestrians or obstacles, and the vehicle can limit the speed to slowly travel in a traffic light intelligent driving mode within a safe distance range; when the distance between the vehicle and the person is smaller than the safety distance, the vehicle stops advancing in the traffic light intelligent driving mode;
the speed sensor 8 is arranged on the front wheel and the rear wheel, the numerical value of the speed sensor 8 is subjected to error on-line during design, the detected and judged vehicle speed is larger than the actual vehicle speed, and the vehicle can enter a traffic light intelligent driving mode in an early stage and send a signal to the vehicle control unit to control the braking system to start to decelerate or stop.
A control method for safe and intelligent driving of a traffic light zebra crossing of an automobile comprises the following specific steps: the method comprises the steps that network conversion signals sent by a GPS satellite transmitter 3 between a crossroad radar 1 and an in-vehicle radar 2 are acquired, signals of a distance L1 between the crossroad radar 1 and the in-vehicle radar 2 and a speed V1 are acquired, a safe distance L from a vehicle 11 to a zebra crossing is set, a safe speed V is set, when a distance L1 between the vehicle crossroad radar 1 and the in-vehicle radar 2 is larger than or equal to the safe distance L from the vehicle 11 to the zebra crossing, the vehicle 11 exits an intelligent driving state, otherwise, a vehicle controller 4 processes the signals, the distance from the current vehicle 11 to the zebra crossing and the current speed are displayed on a screen display 5, the vehicle 11 is controlled to enter the intelligent driving control mode for second judgment, when the current speed V1 of the vehicle 11 is smaller than or equal to the safe speed V, the vehicle 11 exits the intelligent driving state, otherwise, the vehicle controller 4 processes the signals, displays the distance from the current vehicle 11 to the zebra crossing and the current speed on the screen display 5, and controlling the vehicle 11 to enter an intelligent driving control mode to decelerate the braking system 7, judging that the vehicle reaches a safe speed V or below according to data transmitted by the speed sensor 8, and enabling the vehicle 11 to exit from the traffic light intelligent driving mode state.
Example 1
Referring to fig. 5-6, each route is positioned and navigated by a GPS satellite transmitter 3, and runs on a calibrated route, a vehicle control unit 4 drives in a direction of the route transmitted by an in-vehicle radar 2, a network switching signal is sent out between a crossroad radar 1 and the in-vehicle radar 2 by the GPS satellite transmitter 3, when a green light signal of a straight-going road is sent out, a distance L1 between the crossroad radar 1 and the in-vehicle radar 2 and a speed V1 signal are collected, and a safe distance L and a safe speed V from a vehicle to a zebra crossing are set; when a green turning light signal is sent out, the radar 2 in the vehicle receives the signal and sends the signal to the vehicle control unit 4 to turn on the turn light; when the distance L1 between the radar 1 and the radar 2 in the vehicle in the two driving modes through the vehicle crossroad is greater than or equal to the safety distance L from the vehicle to the zebra crossing, the vehicle exits the intelligent driving state; otherwise, the vehicle control unit 4 processes the signal, displays the distance from the current vehicle to the zebra crossing and the current speed on the screen display 5, controls the vehicle to enter an intelligent driving control mode for second judgment, and exits the intelligent driving state when the current speed V1 of the vehicle is less than or equal to the safe speed V; otherwise, the vehicle control unit 4 processes the signal, displays the distance from the current vehicle to the zebra crossing and the current speed on the screen display 5, controls the vehicle to enter an intelligent driving control mode to decelerate the braking system 7, judges that the speed reaches below the safe speed V according to the data transmitted by the speed sensor 8, and exits the traffic light intelligent driving mode state.
Example 2
Referring to fig. 5 and 7, each route is positioned and navigated by a GPS satellite transmitter 3, when the vehicle runs on a calibrated route, a vehicle controller 4 drives the vehicle in the direction of the route transmitted by an in-vehicle radar 2, when the running vehicle enters a set zebra crossing safe distance, a distance sensor 9 detects the distance between the vehicle 11 and a pedestrian through body position mutual inductance and sends a distance signal, collects the distance L2 between the in-vehicle radar and the pedestrian at a crossroad and a speed V2 signal, sets a safe distance L3 between the vehicle and the pedestrian and a safe speed V3, when the distance L1 between the in-vehicle radar 1 and the in-vehicle radar 2 at the crossroad is less than or equal to the safe distance L between the vehicle and the zebra crossing and the speed V1 is less than the safe speed V, the vehicle enters an intelligent driving state, displays the distance and the speed reaching the zebra crossing on a screen display 5 and is broadcasted by a voice broadcaster 6, reminding a driver or a passenger, carrying out first judgment on whether a pedestrian or an obstacle exists by the vehicle control unit, and if not, driving at a low speed to pass through the traffic light intersection; otherwise, the vehicle controller controls the braking system to decelerate, and the vehicle controller enters a second judgment to judge whether the distance L2 between the vehicle 11 and the pedestrian is greater than or equal to the safe distance L3, and if the distance L2 is greater than the safe distance L3, the vehicle runs through the traffic light intersection at the current low speed; otherwise, entering a third judgment whether the speed V2 between the vehicle 11 and the pedestrian is less than or equal to the pedestrian safety speed V3, and if the speed V2 is less than the pedestrian safety speed V3, running at the current speed; otherwise, the distance sensor transmits the distance signal to the vehicle control unit, and the vehicle control unit transmits the signal to the braking system to execute a deceleration function; when all conditions are in accordance with low-speed driving, acquiring a distance L3 between the vehicle 11 and the pedestrian through a distance sensor, judging whether the distance L3 between the vehicle 11 and the pedestrian is smaller than or equal to an early warning distance L6 when the vehicle enters a fourth judgment mode, and if the conditions are met, stopping the vehicle to avoid; otherwise, the vehicle is driven through the traffic light intersection at a low speed lower than the safe speed V3.
Example 3
Referring to fig. 5 and 8, each route is positioned and navigated by a GPS satellite transmitter 3, the vehicle runs on a calibrated route, a vehicle control unit 4 receives a route direction transmitted by an in-vehicle radar 2 to drive, a network conversion signal sent by the GPS satellite transmitter 3 is used between an intersection radar 1 and the in-vehicle radar 2 to acquire a distance L4 between the intersection radar 1 and the in-vehicle radar 2, a speed V4 signal, and a green-to-red remaining time T1 signal, a safe parking distance before a zebra crossing or a safe distance L5 between vehicles, a safe speed V5, and a safe time T are set, the green-to-red remaining time T1 signal is converted by a network sent by the GPS satellite transmitter 3 between the intersection radar 1 and the in-vehicle radar 2, and when the green-to-red remaining time T1 is greater than or equal to the safe time T, the vehicle exits from a traffic light intelligent driving control mode, the vehicle runs through a traffic light intersection at the current speed V4, otherwise, a signal is transmitted to the vehicle control unit, the vehicle control unit displays the current speed V4, the distance L4 and the remaining time T1 of the green light changing to the red light on the screen display 5, and the information is broadcasted by the voice broadcaster 6 at any time to remind a driver or a passenger; acquiring the distance L4 between the intersection radar 1 and the in-vehicle radar 2, and enabling the vehicle control unit to enter a first judgment mode, wherein the first judgment mode is that whether the distance L4 is larger than or equal to the safety distance L5, if the conditions are met, the vehicle runs at the current speed V4, otherwise, the vehicle control unit controls the braking system to decelerate; the speed sensor sends a speed signal to the vehicle control unit and then enters a second judgment whether the current deceleration speed V4 is less than or equal to the safe speed V5, if the condition is met, the vehicle runs according to the current speed V4, otherwise, the vehicle control unit 4 controls the brake system 7 to decelerate, and then the distance sensor 9 sends a distance signal to the vehicle control unit 4 to execute the vehicle to stop in front of a zebra crossing or an obstacle.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (1)
1. The utility model provides a control system that car traffic lights zebra crossing safety intelligence was driven which characterized in that: including crossroad radar (1), in-vehicle radar (2), GPS satellite transmitter (3), vehicle control unit (4), screen display (5), voice broadcast ware (6), braking system (7), speedtransmitter (8), distance sensor (9) and traffic light intelligent platform (10), crossroad radar (1) sets up crossroad wire pole (13) top at the zebra crossing, in-vehicle radar (2) sets up the upper left corner at front end instrument desk (14) of vehicle (11), GPS satellite transmitter (3) are used for converting traffic light intelligent platform (10) and send the traffic light signal, vehicle control unit (4) sets up front end instrument desk (14) right side maintenance mouth (15) department at vehicle (11), screen display 5 sets up the upper right corner at front end instrument desk (14) of vehicle (11), voice broadcast ware (6) set up seat (16) top (17) at vehicle (11) The braking system (7) is arranged below a front end instrument desk (14) of the vehicle (11), the speed sensors (8) are arranged on tires (12) at the front end and the rear end of the vehicle (11), the distance sensor (9) is arranged below the front end instrument desk (14) of the vehicle (11), and the distance between the distance sensor (9) and the ground is 60 mm;
the crossroad radar (1), the in-vehicle radar (2) and the GPS satellite transmitter (3) are all in communication connection through a 5G network, the vehicle control unit (4) is used for processing and executing signals, and the screen display (5) is used for displaying the distance from a vehicle (11) to a zebra crossing, the distance from a pedestrian obstacle, the time from a green light to a red light and the time from the red light to the green light;
the voice broadcaster (6) is used for broadcasting the distance from the vehicle (11) to the zebra crossing, the distance from the pedestrian barrier, the time for changing the green light into the red light and the time for changing the red light into the green light by voice;
a speed sensor (8) is respectively arranged on the front wheel and the rear wheel of the vehicle (11), and a distance sensor (9) is respectively arranged in the front direction, the rear direction, the left direction and the right direction of the vehicle (11);
the braking system (7) sends a signal to the vehicle control unit (4) according to a signal indicating the distance L1 between the vehicle intersection radar (1) and the in-vehicle radar (2), and the vehicle control unit (4) automatically controls the opening and closing angle according to the obtained distance signal and speed signal and a calibrated braking curve, so that the braking force greater than or less than the safe distance L is given to the vehicle;
when the distance L1 between the intersection radar (1) and the in-vehicle radar (2) is smaller than the safety distance L, the vehicle controller (4) controls the vehicle (11) to enter a traffic light intelligent driving mode, and meanwhile, the voice broadcaster (6) broadcasts the distance from the vehicle (11) to the zebra crossing continuously to warn as the vehicle (11) advances;
when the vehicle (11) enters an intelligent driving control mode, speed and distance signals on a speed sensor (8) and a distance sensor (9) are continuously displayed on a screen display (5) through conversion by the vehicle control unit (4);
the vehicle control unit (4) receives and converts the radar signals, displays the radar signals on the screen display (5), broadcasts prompts through the voice broadcaster (6), executes secondary judgment, controls the brake system (7) to decelerate, and realizes the traffic light intelligent driving mode function;
the whole vehicle controller (4) collects red light signals transmitted by the crossroad radar (1) through the in-vehicle radar (2), the vehicle (11) does not enter a safe distance, and the screen display (5) and the voice broadcast device (6) continuously display data and broadcast prompts;
when the vehicle enters the safe distance, the first distance judgment is carried out, after the intelligent driving of the vehicle (11) is started, the screen display (5) and the voice broadcasting device (6) continuously display data and broadcast prompts, the vehicle (11) carries out the second judgment, the vehicle control unit (4) receives signals through the speed sensor (8) and starts to control the braking system (7) to complete deceleration or parking, and the vehicle (11) exits the intelligent driving mode of the traffic lights;
the vehicle control unit (4) collects traffic light signals transmitted by the crossroad radar (1) through the in-vehicle radar (2), when the vehicle (11) is in a straight road, the vehicle (11) executes operation according to an intelligent driving mode and slowly passes through the crossroad;
when the straight road is red, the vehicle control unit (4) judges according to the direction light signal, secondary signal acquisition is carried out on the crossroad radar (1) after the vehicle (11) changes the road, when the road is red, intelligent driving is carried out to reduce the speed and stop, otherwise, the vehicle is decelerated to slowly turn and pass;
the traffic light intelligent platform (10) sends the traffic light signals of each time period to the crossroad radar (1) through network conversion signals sent by the GPS satellite transmitter (3), the vehicle (11) collects the signals of the crossroad radar (1) through the in-vehicle radar (2) to judge the distance, and then sends the signals to the vehicle control unit to execute whether the vehicle (11) enters the intelligent driving of the traffic light;
the GPS satellite transmitter (3) is used for transmitting road route information, the GPS satellite transmitter (3) is output to the whole vehicle controller (4) through the in-vehicle radar (2) to control the vehicle (11) to run on the determined route, the GPS satellite transmitter (3) is used for receiving signals of traffic lights of the traffic light intelligent platform (10), the GPS satellite transmitter (3) transmits the signals to the crossroad radar (1), and the whole vehicle controller (4) judges whether the vehicle (11) enters a traffic light intelligent driving mode or not through the distance between the crossroad radar (1) and the in-vehicle radar (2);
the control method for safe and intelligent driving of the automobile traffic light zebra crossing comprises the following specific steps: the method comprises the steps that network conversion signals sent by a GPS satellite transmitter (3) are transmitted between a crossroad radar (1) and an in-vehicle radar (2), signals of the distance L1 between the crossroad radar (1) and the in-vehicle radar (2) and the speed V1 are collected, the safe distance L from a vehicle (11) to a zebra crossing is set, the safe speed V is set, when the distance L1 between the vehicle crossroad radar (1) and the in-vehicle radar (2) is larger than or equal to the safe distance L from the vehicle (11) to the zebra crossing, the vehicle (11) exits from an intelligent driving state, otherwise, a whole vehicle controller (4) processes the signals, the distance from the current vehicle (11) to the zebra crossing and the current speed are displayed on a screen display (5), the vehicle (11) is controlled to enter an intelligent driving control mode for second judgment, and when the current speed V1 of the vehicle (11) is smaller than or equal to the safe speed V, the vehicle (11) exits the intelligent driving state, otherwise, the vehicle controller (4) processes the signal, displays the distance from the current vehicle (11) to the zebra crossing and the current speed on the screen display (5), controls the vehicle (11) to enter an intelligent driving control mode to decelerate the braking system (7), judges that the speed reaches below the safe speed V according to the data transmitted by the speed sensor (8), and exits the traffic light intelligent driving mode state;
each route is positioned and navigated through a GPS satellite emitter (3), the vehicle runs on a calibrated route, a vehicle control unit (4) receives a route direction transmitted by an in-vehicle radar (2) to drive, a network switching signal sent by the GPS satellite emitter (3) is used between a crossroad radar (1) and the in-vehicle radar (2), when a green light signal of a straight-going road is sent, a distance L1 and a speed V1 signal between the crossroad radar (1) and the in-vehicle radar (2) are collected, and a safe distance L and a safe speed V from a vehicle to a zebra crossing are set; when a green light signal of turning is sent out, the radar (2) in the vehicle receives the signal and sends the signal to the vehicle control unit (4) to turn on the direction light; when the distance L1 between the vehicle intersection radar (1) and the in-vehicle radar (2) in the two driving modes is greater than or equal to the safety distance L between the vehicle and the zebra crossing, the vehicle exits the intelligent driving state; otherwise, the vehicle control unit (4) processes the signal, displays the distance from the current vehicle to the zebra crossing and the current speed on the screen display (5), controls the vehicle to enter an intelligent driving control mode for second judgment, and exits the intelligent driving state when the current speed V1 of the vehicle is less than or equal to the safe speed V; otherwise, the vehicle control unit (4) processes the signal, displays the distance from the current vehicle to the zebra crossing and the current speed on the screen display (5), controls the vehicle to enter an intelligent driving control mode to decelerate the braking system (7), judges that the vehicle reaches a safe speed V or below according to the data transmitted by the speed sensor (8), and exits the intelligent driving mode state of the traffic lights;
each route is positioned and navigated through a GPS satellite transmitter (3), the vehicle runs on a calibrated route, a vehicle control unit (4) receives the route direction transmitted by an in-vehicle radar (2) to drive, when the running vehicle enters a set zebra crossing safety distance, a distance sensor (9) detects the distance between the vehicle (11) and a pedestrian through body position mutual inductance, sends a distance signal, collects the distance L2 between the in-vehicle radar and the pedestrian at a crossroad and a speed V2 signal, sets the safety distance L3 between the vehicle and the pedestrian and the safety speed V3, when the distance L1 between the in-vehicle radar (1) and the in-vehicle radar (2) at the crossroad is smaller than or equal to the safety distance L between the vehicle and the zebra crossing and the speed V1 is smaller than the safety speed V, the vehicle enters an intelligent driving state, displays the distance and the speed reaching the zebra crossing on a screen display (5) and broadcasts by a voice broadcast device (6) constantly, reminding a driver or a passenger, carrying out first judgment on whether a pedestrian or an obstacle exists by the vehicle control unit, and if not, driving at a low speed to pass through the traffic light intersection; otherwise, the vehicle controller controls the braking system to decelerate, and the vehicle controller enters a second judgment to judge whether the distance L2 between the vehicle (11) and the pedestrian is greater than or equal to the safe distance L3, and if the distance L2 is greater than the safe distance L3, the vehicle runs through the traffic light intersection at the current low speed; otherwise, entering a third judgment to judge whether the speed V2 between the vehicle (11) and the pedestrian is less than or equal to the pedestrian safety speed V2, and if the speed V2 is less than the pedestrian safety speed V3, running at the current speed; otherwise, the distance sensor transmits the distance signal to the vehicle control unit, and the vehicle control unit transmits the signal to the braking system to execute a deceleration function; when all conditions are in accordance with low-speed driving, acquiring the distance L3 between the vehicle (11) and the pedestrian through a distance sensor, judging whether the distance L3 between the vehicle (11) and the pedestrian is smaller than or equal to the early warning distance L6 when the vehicle enters a fourth judgment mode, and if the conditions are met, stopping the vehicle to avoid the vehicle; otherwise, the vehicle is driven to pass through the traffic light intersection at a low speed lower than the safe speed V3;
each route is positioned and navigated through a GPS satellite transmitter (3), the vehicle runs on a calibrated route, a vehicle controller (4) receives a route direction transmitted by an in-vehicle radar (2) to drive, a network switching signal sent by the GPS satellite transmitter (3) is used between the crossroad radar (1) and the in-vehicle radar (2) to acquire a distance L4 between the crossroad radar (1) and the in-vehicle radar (2) and a speed V4 signal and a green light to red light remaining time T1 signal, a safe distance before a zebra crossing or a safe distance L5 between vehicles is set, a safe speed V5 and a safe time T are set, a green light to red light remaining time T1 signal is converted through the acquired network between the crossroad radar (1) and the in-vehicle radar (2) through the GPS satellite transmitter (3), and when the green light to red light remaining time T1 is greater than or equal to the safe time T, the intelligent driving control mode of the vehicles is adopted, the vehicle runs through a traffic light crossroad at the current speed V4, otherwise, a signal is transmitted to the vehicle control unit, the vehicle control unit displays the current speed V4, the distance L4 and the remaining time T1 of the green light changing to the red light on a screen display (5) and broadcasts the information by a voice broadcast device (6) at any time to remind a driver or a passenger; by collecting the distance L4 between the intersection radar (1) and the in-vehicle radar (2), the vehicle control unit enters a first judgment L4 to judge whether the distance is greater than or equal to the safety distance L5, if the conditions are met, the vehicle runs at the current speed V4, otherwise, the vehicle control unit controls the brake system to decelerate; the speed sensor sends a speed signal to the vehicle control unit and then enters a second judgment whether the current deceleration speed V4 is less than or equal to the safe speed V5, if the condition is met, the vehicle runs according to the current speed V4, otherwise, the vehicle control unit (4) controls the brake system (7) to decelerate, the distance sensor (9) sends a distance signal to the vehicle control unit (4) and the vehicle is stopped in front of a zebra crossing or an obstacle.
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| CN110136485B (en) * | 2019-06-20 | 2024-01-26 | 吉林大学 | Auxiliary reminding system and method for pedestrians passing through zebra crossings in road section without traffic light |
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