CN110371021A - Projecting method, system and the vehicle of pedestrian's index line - Google Patents
Projecting method, system and the vehicle of pedestrian's index line Download PDFInfo
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- CN110371021A CN110371021A CN201811166851.8A CN201811166851A CN110371021A CN 110371021 A CN110371021 A CN 110371021A CN 201811166851 A CN201811166851 A CN 201811166851A CN 110371021 A CN110371021 A CN 110371021A
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- pedestrian
- index line
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- projection mode
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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
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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
-
- 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
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides projecting method, system and the vehicles of a kind of pedestrian's index line.Wherein, the projecting method of pedestrian's index line, comprising the following steps: whether detection vehicle front has pedestrian；If so, then further detecting speed and vehicle acceleration；Determine whether to avoid pedestrian according to speed and vehicle acceleration；If it is, to region project pedestrian's index line where pedestrian, to guide Pedestrians priority current.The projecting method of pedestrian's index line of the invention can determine whether driver has a mind to give precedence to pedestrian, and pedestrian's index line is projected when driver has a mind to give precedence to pedestrian, to guide the Pedestrians priority of vehicle front by road, to improve the safety of vehicle and pedestrian.
Description
Technical field
The present invention relates to automobile technical field, in particular to a kind of projecting method, system and the vehicle of pedestrian's index line.
Background technique
When no traffic mark, guide line, zebra stripes traffic intersection, or on common highway, usual driver
Driving intention cannot be understood that sometimes, the comity behavior of driver is not easy to be discovered in time by pedestrian by the pedestrian of surrounding
It arrives, it is thus possible to the problems such as will cause and result in an automobile accident since pedestrian and vehicle scramble for roads, or traffic jam occurs.
In the related technology, pedestrian and road information etc. can be identified by sensors such as camera or millimetre-wave radars,
Such as: when detecting that there is pedestrian in front, corresponding pedestrian just is projected according to road conditions and guides mark, still, there are following
Problem: sometimes driver may be not desired to give precedence to pedestrian, and when vehicle detection has pedestrian to front, just thrown according to road conditions
It penetrates corresponding pedestrian and guides mark, in this case, pedestrian thinks that driver gives precedence to intentionally after seeing guidance mark, and at this moment drives
The person of sailing is not intended to give precedence to pedestrian, it is thus possible to lead to accident or traffic jam.
Summary of the invention
In view of this, the present invention is directed to propose a kind of projecting method of pedestrian's index line.The projection side of pedestrian's index line
Method can determine whether driver has a mind to give precedence to pedestrian, and pedestrian's index line is projected when driver has a mind to give precedence to pedestrian,
To guide the Pedestrians priority of vehicle front by road, to improve the safety of vehicle and pedestrian.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of projecting method of pedestrian's index line, comprising the following steps: whether detection vehicle front has pedestrian；If so,
Then further detect speed and vehicle acceleration；Determine whether to avoid pedestrian according to the speed and vehicle acceleration；If so,
Then to region project pedestrian's index line where the pedestrian, to guide Pedestrians priority current.
Further, described to determine whether to avoid pedestrian according to the speed and acceleration, comprising: to judge that the speed is
It is no to be less than preset vehicle speed；If it is, further judging whether vehicle is deceleration regime according to the vehicle acceleration；If
It is then to be judged to avoiding pedestrian.
Further, region project pedestrian's index line to where pedestrian, to guide Pedestrians priority current, comprising:
Judge whether the distance between the pedestrian and vehicle are located in drop shadow spread；If it is, being become according to the position of the pedestrian
Change, pedestrian's index line on road surface is crossed in the front projection of Xiang Suoshu pedestrian, to guide Pedestrians priority current.
Further, further includes: receive the projection mode of user setting, wherein the projection mode includes that aggressive is thrown
Shadow mode, amorphous type projection mode, inquiry type projection mode and prohibitive projection mode；According to the projective module of user setting
Region project pedestrian's index line where from formula to the pedestrian, wherein when for aggressive projection mode, then being judged to avoiding row
It is just projected when people, when for amorphous type projection mode, is then being judged to avoiding pedestrian and projection number less than pre-determined number
Shi Jinhang projection is then thrown after being judged to avoiding pedestrian and receiving the response of driver when for inquiry type projection mode
Shadow is then forbidden projecting when for prohibitive projection mode.
Further, region project pedestrian's index line to where pedestrian, comprising: the pedestrian for controlling the projection refers to
Timberline flashing.
The projecting method of pedestrian's index line of the invention can determine that driver is by detection speed and vehicle acceleration
It is no to have a mind to give precedence to pedestrian, and pedestrian's index line is projected when driver has a mind to give precedence to pedestrian, to guide the row of vehicle front
People preferentially passes through road, to improve the safety of vehicle and pedestrian.
Second object of the present invention is to propose a kind of optical projection system of pedestrian's index line.The system can pass through detection
Speed and vehicle acceleration determine whether driver has a mind to give precedence to pedestrian, and the projection row when driver has a mind to give precedence to pedestrian
People's index line, to guide the Pedestrians priority of vehicle front by road, to improve the safety of vehicle and pedestrian.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of optical projection system of pedestrian's index line, comprising: detection module, for detecting whether vehicle front has pedestrian；It drives
Intention judgment module is sailed, for being sentenced according to speed and vehicle acceleration when detection module detection vehicle front has pedestrian
It is disconnected whether to avoid pedestrian；Projection module, for when driving intention judgment module is judged as evacuation pedestrian, where Xiang Suoshu pedestrian
Region project pedestrian's index line, to guide Pedestrians priority current.
Further, the driving intention judgment module is used for: judging whether the speed is less than preset vehicle speed；If
It is then further to judge whether vehicle is deceleration regime according to the vehicle acceleration；If it is, being judged to avoiding pedestrian.
Further, when the projection module is used to be located in drop shadow spread at a distance from the pedestrian is between vehicle,
According to the change in location of the pedestrian, pedestrian's index line on road surface is crossed in the front projection of Xiang Suoshu pedestrian, to guide pedestrian
Priority pass.
Further, the projection module is also used to according to where the projection mode to the pedestrian of user setting
Region project pedestrian's index line, wherein the projection mode includes aggressive projection mode, amorphous type projection mode, inquiry type
Projection mode and prohibitive projection mode, wherein when for aggressive projection mode, then just being thrown when being judged to avoiding pedestrian
Shadow is then projected when being judged to avoiding pedestrian and projection number is less than pre-determined number when for amorphous type projection mode, when
It when for inquiry type projection mode, is then projected after being judged to avoiding pedestrian and receiving the response of driver, when for prohibitive
When projection mode, forbid projecting.
The projecting method of the optical projection system of pedestrian's index line and above-mentioned pedestrian's index line is compared with the existing technology
Possessed advantage is identical, and details are not described herein.
Third object of the present invention is to propose a kind of vehicle, which can pass through detection speed and vehicle acceleration
It determines whether driver has a mind to give precedence to pedestrian, and projects pedestrian's index line when driver has a mind to give precedence to pedestrian, with guidance
The Pedestrians priority of vehicle front is by road, to improve the safety of vehicle and pedestrian.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of vehicle is provided with the optical projection system of pedestrian's index line as described in any one above-mentioned embodiment.
Possessed advantage is identical compared with the existing technology with the optical projection system of above-mentioned pedestrian's index line for the vehicle,
Details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the projecting method of pedestrian's index line described in one embodiment of the invention；
Fig. 2 is the projection pattern of right side pedestrian index line when going across the road described in one embodiment of the invention；
Fig. 3 is the projection pattern of left side pedestrian index line when going across the road described in one embodiment of the invention；
Fig. 4 is the projection pattern of two sides pedestrian index line when going across the road described in one embodiment of the invention；
Fig. 5 is the schematic diagram of left side pedestrian index line when going across the road described in one embodiment of the invention；
Fig. 6 is the control logic of the projecting method of pedestrian's index line described in one embodiment of the invention；
Fig. 7 is the structural block diagram of the optical projection system of pedestrian's index line described in one embodiment of the invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 is the flow chart of the projecting method of pedestrian's index line according to an embodiment of the invention.
As shown in Figure 1, the projecting method of pedestrian's index line according to an embodiment of the invention, includes the following steps:
S101: whether detection vehicle front has pedestrian.
Vehicle front can be detected by the sensor for being used to detect pedestrian and range sensor being arranged on vehicle
Whether there is pedestrian, position and the distance between the pedestrian and vehicle of the pedestrian of Chinese herbaceous peony are calculated by corresponding algorithm, and
And it can detect whether front has the existing guide line such as road sign, zebra stripes by sensor.
Wherein, the sensor for detecting pedestrian includes but is not limited to: camera, millimetre-wave radar, laser radar.When
So, ultrasonic radar can also be used for detection pedestrian under given conditions.
S102: if so, then further detecting speed and vehicle acceleration.
After detecting that vehicle front has pedestrian, speed and vehicle acceleration are further detected.
Wherein, the vehicle wheel rotational speed that speed can be detected by wheel speed sensors converts to obtain, it is of course also possible to directly logical
Cross velocity sensor detection speed.Vehicle acceleration can be calculated according to real-time speed.
It should be noted that vehicle acceleration is positive when vehicle gives it the gun, when vehicle deceleration when driving, vehicle adds
Speed is negative.
S103: determine whether to avoid pedestrian according to speed and vehicle acceleration.
In specific example, determine whether to avoid pedestrian according to speed and vehicle acceleration, comprising: judge that the speed is
It is no to be less than preset vehicle speed；If it is, further judging whether vehicle is deceleration regime according to vehicle acceleration；If it is,
It is judged to avoiding pedestrian.
It should be appreciated that driver is in control brake and gas pedal, vehicle can generate acceleration and deceleration process, if driver
Speed it is excessively high, and without apparent deceleration-operation, i.e. vehicle acceleration is positive, then illustrates that driver is not intended at this time
Avoid pedestrian；If the speed of driver is lower, such as less than preset vehicle speed, and vehicle acceleration is negative, then illustrates to drive at this time
The person of sailing is intended to give precedence to pedestrian.
It should be noted that preset vehicle speed can be set in advance as 20,000 ms/h or so, it may be assumed that when speed is higher, such as height
In the case where preset vehicle speed, even if vehicle acceleration is negative, it is likely that and driver is not desired to give precedence to pedestrian, but it is appropriate
Deceleration passes through.Therefore, only lower in speed and in the case that vehicle acceleration is negative, it greatly may be that driver is intentional
Give precedence to pedestrian.
S104: if it is, to region project pedestrian's index line where pedestrian, to guide Pedestrians priority current.
In general, vehicle when close to pedestrian, if driver gives precedence to pedestrian intentionally, can just project pedestrian's index line.
Therefore, in specific example, it can first determine whether the distance between pedestrian and vehicle are located in drop shadow spread；If it is,
According to the change in location of pedestrian, pedestrian's index line on road surface is crossed to the projection of the front of pedestrian, to guide Pedestrians priority current.
That is: when the distance between pedestrian and vehicle are located in drop shadow spread (such as 10 meters), illustrate that vehicle is relatively close to pedestrian.Certainly, 10
Rice is merely exemplary, and is not the limitation of the scope of the present invention.
That is, when vehicle be intended to evacuation pedestrian when, if the distance between pedestrian and vehicle in drop shadow spread,
Index line can be projected in the front of pedestrian, during vehicle deceleration is advanced slowly, due to the movement of vehicle, index line
Corresponding adjustment can be done, to guarantee always in the front of pedestrian, until pedestrian is detached from drop shadow spread, before this, driver
Artificially except this function is turned off manually in non-driver it can then can not carry out normal acceleration and deceleration operation by accelerating vehicle.
In addition, the projection needs of index line are projected according to the region where the projection mode to pedestrian of user setting,
Projection mode includes aggressive projection mode, amorphous type projection mode, inquiry type projection mode and prohibitive projection mode；Its
In, when for aggressive projection mode, then just being projected when being judged to avoiding pedestrian, when for amorphous type projection mode, then
It projects when being judged to avoiding pedestrian and projection number is less than pre-determined number, when for inquiry type projection mode, is then sentencing
It is set to evacuation pedestrian and is projected after receiving the response of driver, when for prohibitive projection mode, then forbids projecting.
It is illustrated in figure 6 the control logic of the projecting method of pedestrian's index line, it may be assumed that when projection mode is arranged as product in driver
When polar form, as long as function is opened, meet trigger condition, pedestrian can be instructed to line guidance；When projection mode is amorphous type, then
In this driving, during starting to parking, even if function is opened, when meeting trigger condition, also only carry out limited
The projection of number, such as: the predetermined projection number of setting is n times, and the preceding n times for meeting trigger condition are projected, and projection number is super
This function is shut off after crossing n times；When it is inquiry type that projection mode, which is arranged, in driver, then meet trigger condition in each judgement
When, voice inquiry or by display put question in a manner of inquire whether driver projects, and according to the answer of driver into
Row projection；When projection mode is prohibitive, then not will do it projection will not be inquired.
Wherein, trigger condition are as follows: speed is lower than preset vehicle speed and vehicle is in deceleration regime；Detect that vehicle front has row
People and pedestrian are located in drop shadow spread at a distance from vehicle；The projection mode of driver's setting is not prohibitive.
It is illustrated in figure 2 the projection pattern of right side pedestrian's index line when going across the road, such as: when camera does not find front
Road has but is not limited to zebra stripes, road sign, pedestrian's guide line etc., and when projection mode is arranged is aggressive, according to pedestrian
The projecting method of index line executes strategy control as follows: as shown in Fig. 2, when pedestrian P1 is regarded from the camera that right side enters into vehicle 2
When Yezhong, driver makes speed lower than preset vehicle speed to avoid pedestrian's ramp to stop, such as preset vehicle speed is 20km/h, at this time
It obtains vehicle according to vehicle acceleration and is in deceleration regime, then the index line that pixel headlight L1 and L2 projection guidance pedestrian go across the road
3 to the front of pedestrian, and indicates direction, and index line 3 as shown in Figure 2 is that pedestrian P1 indicates the direction walked to the left, indicates
Vehicle is giving precedence to pedestrian to pedestrian at this time, and the leading driver intention of pedestrian is used as a kind of visual people-car interaction, in this phase
Between until pedestrains safety is by road ahead, forbid driver to operate vehicle and accelerate, until pedestrains safety passes through front road
Road or driver are turned off manually this function just and can be carried out normal acceleration and deceleration operation；But if the speed of driver at this time simultaneously
Preset vehicle speed or camera are not below after detecting pedestrian, driver does not have apparent deceleration-operation, then it represents that driver
The driving intention for giving precedence to pedestrian is had no at this time, then does not meet trigger condition at this time, vehicle not will do it projection.
As shown in Figure 3 and Figure 4, the projecting method of pedestrian's index line can be projected out according to the direction of travel of both sides of the road pedestrian
Corresponding index line direction projects the index line direction walked to the left for right side pedestrian, walks to the right for left side pedestrian projection
Index line direction.This following function can also be used for the visualization people-car interaction of automatic driving vehicle, the vehicle driving of automatic Pilot
Front detects that pedestrian is going across the road, and the then ramp to stop of automatic driving vehicle at this time projects pedestrian's index line, informs row
The automatic driving vehicle of people at this time is giving precedence to pedestrian, and guidance pedestrian passes through road in time.
Meanwhile the projection pattern of index line is dynamic projection, index line as shown in Figure 5 has but is not limited to 8 pieces, index line
Can successively it extinguish according to 1 to 8 sequence, it may be assumed that No. 2 index lines are lighted while No. 1 index line soon extinguishes, and so on,
And the direction that index line is advanced according to pedestrian is successively lighted, to indicate that pedestrian advances, the time interval that index line is successively lighted is
But it is not limited to 0.5 second, according to the label of Fig. 5 index line, sequence that index line is lit are as follows: 2345678 → 1345678 →
1245678 → 1235678 → 1234678, that is, control pedestrian's index line flashing of projection.
The projecting method of pedestrian's index line according to an embodiment of the present invention, can be true by detection speed and vehicle acceleration
Determine whether driver has a mind to give precedence to pedestrian, and project pedestrian's index line when driver has a mind to give precedence to pedestrian, with guide car
Pedestrians priority in front of is by road, to improve the safety of vehicle and pedestrian.
Fig. 7 is the structural block diagram of the optical projection system of pedestrian's index line according to an embodiment of the invention.As shown in fig. 7,
The optical projection system 700 of pedestrian's index line according to an embodiment of the invention, comprising: detection module 710, driving intention judge mould
Block 720 and projection module 730.
Wherein, detection module 710 is for detecting whether vehicle front has pedestrian；Driving intention judgment module 720 is used for
When the detection vehicle front of detection module 710 has pedestrian, judged whether to avoid pedestrian according to speed and vehicle acceleration；Projection module
730 for when driving intention judgment module 720 is judged as evacuation pedestrian, to region project pedestrian's index line where pedestrian,
To guide Pedestrians priority current.
In one embodiment of the invention, driving intention judgment module 720 is used for: judging whether speed is less than predetermined vehicle
Speed；If it is, further judging whether vehicle is deceleration regime according to vehicle acceleration；If it is, being judged to avoiding row
People.
In one embodiment of the invention, projection module 730 is used to be located at projection at a distance from pedestrian is between vehicle
When in range, according to the change in location of pedestrian, pedestrian's index line on road surface is crossed, to the projection of the front of pedestrian to guide pedestrian
Priority pass.
In one embodiment of the invention, projection module 730 is also used to according to the projection mode of user setting to pedestrian
Region project pedestrian's index line at place, wherein projection mode includes aggressive projection mode, amorphous type projection mode, inquiry
Type projection mode and prohibitive projection mode, wherein when for aggressive projection mode, then just being carried out when being judged to avoiding pedestrian
Projection is then projected when being judged to avoiding pedestrian and projection number is less than pre-determined number when for amorphous type projection mode,
It when for inquiry type projection mode, is then projected after being judged to avoiding pedestrian and receiving the response of driver, when to forbid
When type projection mode, forbid projecting.
The optical projection system of pedestrian's index line according to an embodiment of the present invention, can be true by detection speed and vehicle acceleration
Determine whether driver has a mind to give precedence to pedestrian, and project pedestrian's index line when driver has a mind to give precedence to pedestrian, with guide car
Pedestrians priority in front of is by road, to improve the safety of vehicle and pedestrian.
It should be noted that the specific implementation of the optical projection system of pedestrian's index line of the embodiment of the present invention and the present invention
The specific implementation of the projecting method of pedestrian's index line of embodiment is similar, specifically refers to the description of method part, in order to
Redundancy is reduced, is not repeated herein.
Further, it embodiment of the invention discloses a kind of vehicle, is provided with as in any one above-mentioned embodiment
The optical projection system of pedestrian's index line.The vehicle can determine whether driver has a mind to gift by detection speed and vehicle acceleration
It allows pedestrian, and projects pedestrian's index line when driver has a mind to give precedence to pedestrian, to guide the Pedestrians priority of vehicle front to pass through
Road, to improve the safety of vehicle and pedestrian.
In addition, other compositions of vehicle according to an embodiment of the present invention and effect are for those of ordinary skill in the art
For be all it is known, in order to reduce redundancy, be not repeated herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of projecting method of pedestrian's index line, which comprises the following steps:
Whether detection vehicle front has pedestrian；
If so, then further detecting speed and vehicle acceleration；
Determine whether to avoid pedestrian according to the speed and vehicle acceleration；
If it is, to region project pedestrian's index line where the pedestrian, to guide Pedestrians priority current.
2. the projecting method of pedestrian's index line according to claim 1, which is characterized in that it is described according to the speed and plus
Speed determines whether to avoid pedestrian, comprising:
Judge whether the speed is less than preset vehicle speed；
If it is, further judging whether vehicle is deceleration regime according to the vehicle acceleration；
If it is, being judged to avoiding pedestrian.
3. the projecting method of pedestrian's index line according to claim 1, which is characterized in that the region to where pedestrian
Pedestrian's index line is projected, to guide Pedestrians priority current, comprising:
Judge whether the distance between the pedestrian and vehicle are located in drop shadow spread；
If it is, pedestrian's instruction on road surface is crossed in the front projection of Xiang Suoshu pedestrian according to the change in location of the pedestrian
Line, to guide Pedestrians priority current.
4. the projecting method of pedestrian's index line according to claim 1, which is characterized in that further include:
Receive the projection mode of user setting, wherein the projection mode includes aggressive projection mode, amorphous type projective module
Formula, inquiry type projection mode and prohibitive projection mode；
Region project pedestrian's index line where the projection mode to the pedestrian of user setting,
Wherein, when for aggressive projection mode, then just being projected when being judged to avoiding pedestrian, when for amorphous type projection mode
When, then it is projected when being judged to avoiding pedestrian and projection number is less than pre-determined number, when for inquiry type projection mode, then
It is projected after being judged to avoiding pedestrian and receiving the response of driver, when for prohibitive projection mode, then forbids projecting.
5. the projecting method of pedestrian's index line according to claim 1-4, which is characterized in that described to pedestrian institute
Region project pedestrian's index line, comprising: control the projection pedestrian's index line flashing.
6. a kind of optical projection system of pedestrian's index line characterized by comprising
Detection module, for detecting whether vehicle front has pedestrian；
Driving intention judgment module, for being added according to speed and vehicle when detection module detection vehicle front has pedestrian
Whether velocity estimated avoids pedestrian；
Projection module, for the region project when driving intention judgment module is judged as evacuation pedestrian, where Xiang Suoshu pedestrian
Pedestrian's index line, to guide Pedestrians priority current.
7. the optical projection system of pedestrian's index line according to claim 6, which is characterized in that the driving intention judgment module
For:
Judge whether the speed is less than preset vehicle speed；
If it is, further judging whether vehicle is deceleration regime according to the vehicle acceleration；
If it is, being judged to avoiding pedestrian.
8. the optical projection system of pedestrian's index line according to claim 6 or 7, which is characterized in that the projection module is used for
When being located in drop shadow spread at a distance from the pedestrian is between vehicle, according to the change in location of the pedestrian, Xiang Suoshu pedestrian
Front projection cross pedestrian's index line on road surface, to guide Pedestrians priority current.
9. the optical projection system of pedestrian's index line according to claim 6, which is characterized in that the projection module is also used to root
According to region project pedestrian's index line where the projection mode to the pedestrian of user setting, wherein the projection mode
Including aggressive projection mode, amorphous type projection mode, inquiry type projection mode and prohibitive projection mode, wherein when for product
Polar form projection mode, then just project when being judged to avoiding pedestrian, when for amorphous type projection mode, then is being judged to keeping away
Allow pedestrian and projection number be less than pre-determined number when project, when for inquiry type projection mode, then be judged to avoiding row
It people and projects after receiving the response of driver, when for prohibitive projection mode, forbids projecting.
10. a kind of vehicle, which is characterized in that be provided with the projection system of pedestrian's index line as claim in any one of claims 6-9
System.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811166851.8A CN110371021B (en) | 2018-09-30 | 2018-09-30 | Projection method and system of pedestrian indicating line and vehicle |
| AU2019348096A AU2019348096B2 (en) | 2018-09-30 | 2019-09-30 | Control method and system for vehicles and vehicle |
| PCT/CN2019/109523 WO2020064012A1 (en) | 2018-09-30 | 2019-09-30 | Control method and system for vehicles and vehicle |
| RU2021108513A RU2771535C1 (en) | 2018-09-30 | 2019-09-30 | Method for controlling an automobile, system and automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811166851.8A CN110371021B (en) | 2018-09-30 | 2018-09-30 | Projection method and system of pedestrian indicating line and vehicle |
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| CN110371021A true CN110371021A (en) | 2019-10-25 |
| CN110371021B CN110371021B (en) | 2021-05-25 |
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| CN111613073A (en) * | 2020-05-22 | 2020-09-01 | 哈尔滨森美朴科技发展有限责任公司 | Traffic control method, device and storage medium |
| CN113971879A (en) * | 2020-07-23 | 2022-01-25 | 通用汽车环球科技运作有限责任公司 | Adaptive interaction system with other road users |
| CN114394110A (en) * | 2020-10-08 | 2022-04-26 | 动态Ad有限责任公司 | Method for controlling a vehicle |
| CN115665921A (en) * | 2022-10-21 | 2023-01-31 | 重庆长安新能源汽车科技有限公司 | Control method and system for vehicle-mounted interactive lamp |
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