CN110371021B - Projection method and system of pedestrian indicating line and vehicle - Google Patents
Projection method and system of pedestrian indicating line and vehicle Download PDFInfo
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- CN110371021B CN110371021B CN201811166851.8A CN201811166851A CN110371021B CN 110371021 B CN110371021 B CN 110371021B CN 201811166851 A CN201811166851 A CN 201811166851A CN 110371021 B CN110371021 B CN 110371021B
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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
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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
- 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
Abstract
The invention provides a projection method and system of pedestrian indicating lines and a vehicle. The pedestrian indication line projection method comprises the following steps: detecting whether a pedestrian exists in front of the vehicle; if yes, further detecting the vehicle speed and the vehicle acceleration; judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration; if yes, a pedestrian indicating line is projected to the area where the pedestrian is located so as to guide the pedestrian to pass preferentially. The pedestrian indication line projection method can determine whether the driver wishes to give a gift to pedestrians, and projects the pedestrian indication line when the driver wishes to give the gift to pedestrians so as to guide the pedestrians in front of the vehicle to preferentially pass through the road, so that the safety of the vehicle and the pedestrians is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a projection method and system of pedestrian indicating lines and a vehicle.
Background
When the driving intention of a driver is not understood by surrounding pedestrians at a traffic intersection without a traffic sign, a guide line or a zebra crossing or on a common road, sometimes the courtesy behavior of the driver is not easily perceived by the pedestrians in time, and therefore, traffic accidents or traffic jam and other problems may be caused due to the traffic jam of the pedestrians and vehicles.
In the related art, pedestrian and road information and the like can be recognized by a sensor such as a camera or a millimeter wave radar, for example: when a pedestrian is detected in front, the corresponding pedestrian guide mark is projected according to the road condition, but the following problems exist: sometimes, the driver may not want to give a gift to the pedestrian, and when the vehicle detects that there is a pedestrian in front of the vehicle, the corresponding pedestrian guide sign is projected according to the road condition, in this case, the pedestrian considers that the driver is intentionally giving a gift after seeing the guide sign, and at this time, the driver does not want to give a gift to the pedestrian, thereby possibly causing an accident or traffic jam.
Disclosure of Invention
In view of the above, the present invention is directed to a method for projecting pedestrian indication lines. The projection method of the pedestrian indicating line can determine whether the driver wishes to give up the pedestrian, and projects the pedestrian indicating line when the driver wishes to give up the pedestrian intentionally, so that the pedestrian in front of the vehicle is guided to pass through the road preferentially, and the safety of the vehicle and the pedestrian is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for projecting pedestrian indication lines comprises the following steps: detecting whether a pedestrian exists in front of the vehicle; if yes, further detecting the vehicle speed and the vehicle acceleration; judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration; if yes, a pedestrian indicating line is projected to the area where the pedestrian is located so as to guide the pedestrian to pass preferentially.
Further, the determining whether to avoid the pedestrian according to the vehicle speed and the acceleration includes: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration; if yes, the pedestrian is determined to be avoided.
Further, the pedestrian indicating line is projected to the area where the pedestrian is located to guide the pedestrian to pass preferentially, and the method comprises the following steps: judging whether the distance between the pedestrian and the vehicle is within a projection range; if yes, according to the position change of the pedestrian, a pedestrian indicating line crossing the road surface is projected to the front of the pedestrian so as to guide the pedestrian to pass preferentially.
Further, the method also comprises the following steps: receiving a projection mode set by a user, wherein the projection mode comprises an active type projection mode, a passive type projection mode, an inquiry type projection mode and a forbidden type projection mode; and projecting a pedestrian indicating line to an area where the pedestrian is located according to the projection mode set by the user, wherein when the projection mode is an active projection mode, projection is performed when the pedestrian is determined to be avoided, when the projection mode is a passive projection mode, projection is performed when the pedestrian is determined to be avoided and the number of projection times is less than a preset number of times, when the projection mode is an inquiry projection mode, projection is performed after the pedestrian is determined to be avoided and the response of the driver is received, and when the projection mode is a forbidden projection mode, projection is forbidden.
Further, the projecting pedestrian indicating lines to the area where the pedestrian is located includes: controlling the projected pedestrian indication line to flash.
The pedestrian indication line projection method can determine whether the driver wishes to give a gift to the pedestrian by detecting the speed and the acceleration of the vehicle, and projects the pedestrian indication line when the driver wishes to give the gift to the pedestrian so as to guide the pedestrian in front of the vehicle to preferentially pass through the road, thereby improving the safety of the vehicle and the pedestrian.
The second purpose of the invention is to provide a projection system of pedestrian indicating lines. The system can determine whether the driver wishes to give up the pedestrian by detecting the speed of the vehicle and the acceleration of the vehicle, and project pedestrian indicating lines when the driver wishes to give up the pedestrian intentionally, so that the pedestrian in front of the vehicle is guided to preferentially pass through the road, and the safety of the vehicle and the pedestrian is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a pedestrian indication line projection system, comprising: the detection module is used for detecting whether a pedestrian exists in front of the vehicle; the driving intention judging module is used for judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration when the detecting module detects the pedestrian in front of the vehicle; and the projection module is used for projecting a pedestrian indicating line to the area where the pedestrian is located when the driving intention judgment module judges that the pedestrian is avoided so as to guide the pedestrian to pass preferentially.
Further, the driving intention determination module is configured to: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration; if yes, the pedestrian is determined to be avoided.
Further, the projection module is used for projecting a pedestrian indicating line crossing the road surface to the front of the pedestrian according to the position change of the pedestrian when the distance between the pedestrian and the vehicle is within the projection range so as to guide the pedestrian to pass preferentially.
Further, the projection module is further configured to project a pedestrian indication line to an area where the pedestrian is located according to the projection mode set by the user, where the projection mode includes an active projection mode, a passive projection mode, an inquiry projection mode, and a prohibited projection mode, where in the active projection mode, the projection is performed when it is determined that the pedestrian is avoided, in the passive projection mode, the projection is performed when it is determined that the pedestrian is avoided and the number of projections is less than a predetermined number, in the inquiry projection mode, the projection is performed after it is determined that the pedestrian is avoided and a response of the driver is received, and in the prohibited projection mode, the projection is prohibited.
The advantages of the projection system of the pedestrian indication lines and the projection method of the pedestrian indication lines are the same as those of the prior art, and are not repeated herein.
A third object of the present invention is to provide a vehicle, which can determine whether a driver intends to give a gift to a pedestrian by detecting a vehicle speed and a vehicle acceleration, and project a pedestrian indication line when the driver intends to give the gift to the pedestrian to guide the pedestrian in front of the vehicle to preferentially pass through a road, thereby improving safety of the vehicle and the pedestrian.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle provided with a projection system of pedestrian indication lines as described in any one of the above embodiments.
The vehicle and the projection system of the pedestrian indication line have the same advantages compared with the prior art, and are not described in detail herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a method for projecting pedestrian indication lines according to an embodiment of the present invention;
FIG. 2 is a perspective view of a right-side pedestrian crossing a road showing an indicator line according to an embodiment of the present invention;
FIG. 3 is a perspective view of a left pedestrian crossing a road showing an indicator line according to an embodiment of the present invention;
FIG. 4 is a perspective view of an indicator line for a pedestrian on two sides crossing a road according to an embodiment of the present invention;
FIG. 5 is a schematic representation of left-side pedestrian indicating lines during a crossroad according to one embodiment of the present invention;
FIG. 6 illustrates control logic for a method of projecting pedestrian indication lines in accordance with one embodiment of the present invention;
fig. 7 is a block diagram of a projection system of pedestrian indication lines according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of a method of projecting pedestrian indication lines according to one embodiment of the present invention.
As shown in fig. 1, a method for projecting pedestrian indication lines according to an embodiment of the present invention includes the steps of:
s101: whether a pedestrian is in front of the vehicle is detected.
Whether a pedestrian exists in front of the vehicle can be detected through a sensor for detecting the pedestrian and a distance sensor arranged on the vehicle, the position of the pedestrian in front of the vehicle and the distance between the pedestrian and the vehicle are calculated through corresponding algorithms, and whether existing guide lines such as road signs, zebra crossings and the like exist in front can be detected through the sensor.
Among these, sensors for detecting pedestrians include, but are not limited to: camera, millimeter wave radar, laser radar. Of course, ultrasonic radar may also be used to detect pedestrians under certain conditions.
S102: if so, the vehicle speed and vehicle acceleration are further detected.
When a pedestrian is detected in front of the vehicle, the vehicle speed and the vehicle acceleration are further detected.
The vehicle speed can be obtained by converting the wheel speed detected by the wheel speed sensor, and of course, the vehicle speed can also be directly detected by the speed sensor. The vehicle acceleration may be calculated from the real-time vehicle speed.
The vehicle acceleration is positive when the vehicle is running with acceleration, and the vehicle acceleration is negative when the vehicle is running with deceleration.
S103: and judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration.
In a specific example, determining whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration comprises: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the acceleration of the vehicle; if yes, the pedestrian is determined to be avoided.
It should be understood that when a driver controls a brake pedal and an accelerator pedal, the vehicle can generate an acceleration and deceleration process, and if the vehicle speed of the driver is too high and no obvious deceleration operation is performed, namely the vehicle acceleration is positive, it indicates that the driver does not want to avoid pedestrians at the moment; if the vehicle speed of the driver is low, such as less than a predetermined vehicle speed, and the vehicle acceleration is negative, it indicates that the driver intends to give away a pedestrian.
Note that the predetermined vehicle speed may be set to about 20km/h in advance, that is: when the vehicle speed is high, such as higher than a predetermined vehicle speed, even if the vehicle acceleration is negative, it is likely that the driver does not want to give a gift to the pedestrian but appropriately decelerates to pass. Therefore, only in the case where the vehicle speed is low and the vehicle acceleration is negative, it is highly likely that the driver intentionally gives a courtesy to the pedestrian.
S104: if yes, a pedestrian indicating line is projected to the area where the pedestrian is located so as to guide the pedestrian to pass preferentially.
Generally, a vehicle will not project a pedestrian indication line when approaching a pedestrian if the driver intends to give a courtesy to the pedestrian. Therefore, in a specific example, it may be determined first whether the distance between the pedestrian and the vehicle is within the projection range; if yes, according to the position change of the pedestrian, a pedestrian indicating line crossing the road surface is projected to the front of the pedestrian so as to guide the pedestrian to pass preferentially. Namely: when the distance between the pedestrian and the vehicle is within the projection range (such as 10 meters), the vehicle is relatively close to the pedestrian. Of course, 10 meters is merely exemplary and is not intended to limit the scope of the present invention.
That is, when the vehicle intends to avoid a pedestrian, if the distance between the pedestrian and the vehicle is within the projection range, an indication line will be projected right ahead of the pedestrian, and during the process of slowing down and advancing the vehicle, due to the movement of the vehicle, the indication line will be adjusted accordingly to ensure that the indication line is always right ahead of the pedestrian until the pedestrian gets out of the projection range, before which the driver cannot artificially accelerate the vehicle, unless the driver manually turns off the function, normal acceleration and deceleration operation can be performed.
In addition, the projection of the indication lines needs to be carried out on the area where the pedestrian is located according to a projection mode set by a user, wherein the projection mode comprises an active projection mode, a passive projection mode, an inquiry projection mode and a forbidden projection mode; when the projection mode is the positive projection mode, projection is performed when the pedestrian is determined to be avoided, when the projection mode is the negative projection mode, projection is performed when the pedestrian is determined to be avoided and the number of projection times is less than the preset number of times, when the projection mode is the inquiry projection mode, projection is performed after the pedestrian is determined to be avoided and the response of the driver is received, and when the projection mode is the forbidden projection mode, projection is forbidden.
As shown in fig. 6, the control logic of the projection method of the pedestrian indication line is as follows: when the driver sets the projection mode to be an active type, as long as the function is started and the triggering condition is met, the pedestrians can be guided by the indicating lines; when the projection mode is a passive type, in the process from start to stop in the current driving, even if the function is started, only limited times of projection are performed when the trigger condition is met, for example: setting the preset projection times as n times, projecting the first n times according with the triggering condition, and closing the function after the projection times exceed the n times; when the projection mode set by the driver is an inquiry type, when the condition that the projection mode is matched with the trigger condition is judged each time, inquiring whether the driver performs projection or not by voice or in a mode of asking questions by a display, and performing projection according to the answer of the driver; when the projection mode is the inhibition type, neither projection nor inquiry is made.
Wherein the triggering conditions are as follows: the vehicle speed is lower than the preset vehicle speed and the vehicle is in a deceleration state; detecting that a pedestrian exists in front of the vehicle and the distance between the pedestrian and the vehicle is within a projection range; the projection mode set by the driver is not a prohibition type.
Fig. 2 shows the projection of the indication line when the pedestrian on the right side crosses the road, for example: when the camera does not find the front road, such as but not limited to a zebra crossing, a road sign, a pedestrian guide line and the like, and sets the projection mode to be positive, the following control strategy is executed according to the projection method of the pedestrian indication line: when a pedestrian P1 walks into the camera field of the vehicle 2 from the right side as shown in FIG. 2, the driver decelerates and stops to a speed lower than a predetermined vehicle speed, for example, the predetermined vehicle speed is 20km/h, and the vehicle is in a deceleration state according to the vehicle acceleration, then the pixel headlamps L1 and L2 project an indication line 3 guiding the pedestrian to cross the road to the right front of the pedestrian and indicate the direction, and the indication line 3 indicates the pedestrian P1 indicates the left-going direction as shown in FIG. 2, indicating that the pedestrian is coursing the pedestrian at the time, the driver's intention of the pedestrian is used as a visual human-vehicle interaction, during which the driver is prohibited from operating the vehicle for acceleration until the pedestrian safely passes the road in front, or the driver manually turns off the function, and normal acceleration and deceleration operation cannot be performed; however, if the vehicle speed of the driver at the moment is not lower than the preset vehicle speed, or the camera detects a pedestrian and the driver does not have obvious deceleration operation, the driving intention of the pedestrian is not given to the driver at the moment, the triggering condition is not met at the moment, and the vehicle does not carry out projection.
As shown in fig. 3 and 4, the method for projecting the pedestrian indication line may project corresponding indication line directions according to the traveling directions of the pedestrians on both sides of the road, project the indication line direction of left walking for the right side pedestrian, and project the indication line direction of right walking for the left side pedestrian. This function also can be used to the visual people car interaction of automatic drive vehicle in future, and automatic drive's vehicle traveles the place ahead and detects that the pedestrian is crossing the road, and automatic drive vehicle this moment then slows down the parking, throws out the pedestrian instruction line, and the automatic drive vehicle who tells the pedestrian this moment is giving the gift the pedestrian, and the guide pedestrian is in time through the road.
Meanwhile, the projection mode of the indication lines is dynamic projection, as shown in fig. 5, the indication lines have but not limited to 8 blocks, and the indication lines can be sequentially extinguished according to the sequence from 1 to 8, that is: the indication line No. 2 is lighted when the indication line No. 1 is about to go out, and so on, and the indication line is lighted in turn according to the direction that the pedestrian marches to indicate that the pedestrian advances, and the time interval that the indication line is lighted in turn is but not limited to 0.5 second, and according to the reference numeral of the indication line of FIG. 5, the order that the indication line is lighted is: 2345678 → 1345678 → 1245678 → 1235678 → 1234678, i.e. controlling the projected pedestrian indicating line flicker.
According to the projection method of the pedestrian indication line, whether the driver wishes to give up the pedestrian can be determined by detecting the speed and the acceleration of the vehicle, and the pedestrian indication line is projected when the driver wishes to give up the pedestrian intentionally to guide the pedestrian in front of the vehicle to pass through the road preferentially, so that the safety of the vehicle and the pedestrian is improved.
FIG. 7 is a block diagram of a projection system for pedestrian indication lines, in accordance with one embodiment of the present invention. As shown in fig. 7, a pedestrian indication line projection system 700 according to an embodiment of the present invention includes: a detection module 710, a driving intention judgment module 720 and a projection module 730.
The detection module 710 is used for detecting whether a pedestrian exists in front of the vehicle; the driving intention judging module 720 is used for judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration when the detecting module 710 detects the pedestrian in front of the vehicle; the projection module 730 is configured to project a pedestrian indication line to an area where the pedestrian is located to guide the pedestrian to pass preferentially when the driving intention determination module 720 determines to avoid the pedestrian.
In one embodiment of the present invention, the driving intention determining module 720 is configured to: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the acceleration of the vehicle; if yes, the pedestrian is determined to be avoided.
In one embodiment of the present invention, the projection module 730 is configured to project a pedestrian indication line crossing the road surface to the front of the pedestrian according to the position change of the pedestrian when the distance between the pedestrian and the vehicle is within the projection range, so as to guide the pedestrian to pass preferentially.
In an embodiment of the present invention, the projection module 730 is further configured to project a pedestrian indication line to an area where a pedestrian is located according to a projection mode set by a user, where the projection mode includes an active projection mode, a passive projection mode, an inquiry projection mode, and a prohibited projection mode, where when the projection mode is the active projection mode, the projection is performed when it is determined that the pedestrian is avoided, when the projection mode is the passive projection mode, the projection is performed when it is determined that the pedestrian is avoided and the number of projections is less than a predetermined number, when the projection mode is the inquiry projection mode, the projection is performed after it is determined that the pedestrian is avoided and a response of a driver is received, and when the projection mode is the prohibited projection mode, the projection is prohibited.
According to the projection system of the pedestrian indication line, whether the driver wishes to give up the pedestrian can be determined by detecting the speed and the acceleration of the vehicle, and the pedestrian indication line is projected when the driver wishes to give up the pedestrian intentionally so as to guide the pedestrian in front of the vehicle to pass through the road preferentially, so that the safety of the vehicle and the pedestrian is improved.
It should be noted that a specific implementation manner of the projection system of the pedestrian indication line in the embodiment of the present invention is similar to a specific implementation manner of the projection method of the pedestrian indication line in the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
Further, an embodiment of the present invention discloses a vehicle provided with the projection system of the pedestrian indication line as in any one of the above embodiments. This vehicle can confirm whether the driver has the intention to give up the pedestrian through detecting speed of a motor vehicle and vehicle acceleration to throw the pedestrian sign line when the driver is intention to give up the pedestrian, with the pedestrian in guide vehicle the place ahead is preferential to pass through the road, thereby has promoted vehicle and pedestrian's safety.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A method for projecting pedestrian indication lines is characterized by comprising the following steps:
detecting whether a pedestrian exists in front of the vehicle;
if yes, further detecting the vehicle speed and the vehicle acceleration;
judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration;
if so, projecting a pedestrian indicating line to the area where the pedestrian is located to guide the pedestrian to pass preferentially;
further comprising:
receiving a projection mode set by a user, wherein the projection mode comprises an active type projection mode, a passive type projection mode, an inquiry type projection mode and a forbidden type projection mode;
projecting pedestrian indication lines to the area where the pedestrian is located according to the projection mode set by the user,
when the projection mode is the positive projection mode, projection is performed when the pedestrian is determined to be avoided, when the projection mode is the negative projection mode, projection is performed when the pedestrian is determined to be avoided and the number of projection times is less than the preset number of times, when the projection mode is the inquiry projection mode, projection is performed after the pedestrian is determined to be avoided and the response of the driver is received, and when the projection mode is the forbidden projection mode, projection is forbidden.
2. The method for projecting pedestrian indication lines according to claim 1, wherein the determining whether to avoid the pedestrian according to the vehicle speed and the acceleration comprises:
judging whether the vehicle speed is less than a preset vehicle speed or not;
if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration;
if yes, the pedestrian is determined to be avoided.
3. The method for projecting pedestrian indication lines according to claim 1, wherein the step of projecting pedestrian indication lines to an area where pedestrians are located to guide pedestrians to pass preferentially comprises the steps of:
judging whether the distance between the pedestrian and the vehicle is within a projection range;
if yes, according to the position change of the pedestrian, a pedestrian indicating line crossing the road surface is projected to the front of the pedestrian so as to guide the pedestrian to pass preferentially.
4. The method for projecting pedestrian indication lines according to any one of claims 1 to 3, wherein the projecting pedestrian indication lines to the area where the pedestrian is located comprises: controlling the projected pedestrian indication line to flash.
5. A pedestrian indication line projection system, comprising:
the detection module is used for detecting whether a pedestrian exists in front of the vehicle;
the driving intention judging module is used for judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration when the detecting module detects the pedestrian in front of the vehicle;
the projection module is used for projecting pedestrian indication lines to the area where the pedestrians are located to guide the pedestrians to pass preferentially when the driving intention judgment module judges that the pedestrians are avoided;
the projection module is further used for projecting a pedestrian indication line to an area where the pedestrian is located according to a projection mode set by a user, wherein the projection mode comprises an active projection mode, a passive projection mode, an inquiry projection mode and a prohibited projection mode, when the projection mode is the active projection mode, projection is carried out when the pedestrian is determined to be avoided, when the projection mode is the passive projection mode, projection is carried out when the pedestrian is determined to be avoided and the number of projection times is less than a preset number, when the projection mode is the inquiry projection mode, projection is carried out after the pedestrian is determined to be avoided and the response of a driver is received, and when the projection mode is the prohibited projection mode, projection is prohibited.
6. The pedestrian indication line projection system of claim 5, wherein the driving intent determination module is configured to:
judging whether the vehicle speed is less than a preset vehicle speed or not;
if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration;
if yes, the pedestrian is determined to be avoided.
7. The pedestrian indication line projection system according to claim 5 or 6, wherein the projection module is used for projecting a pedestrian indication line crossing a road surface to the front of the pedestrian according to the position change of the pedestrian when the distance between the pedestrian and the vehicle is within a projection range so as to guide the pedestrian to pass preferentially.
8. A vehicle, characterized in that it is provided with a projection system of pedestrian indication lines as claimed in any one of claims 5-7.
Priority Applications (4)
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| CN201811166851.8A CN110371021B (en) | 2018-09-30 | 2018-09-30 | Projection method and system of pedestrian indicating line and vehicle |
| RU2021108513A RU2771535C1 (en) | 2018-09-30 | 2019-09-30 | Method for controlling an automobile, system and automobile |
| 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 |
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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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| 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 |
| US11524627B2 (en) * | 2020-07-23 | 2022-12-13 | GM Global Technology Operations LLC | Adaptive interaction system with other road users |
| US11738682B2 (en) * | 2020-10-08 | 2023-08-29 | Motional Ad Llc | Communicating vehicle information to pedestrians |
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| CN108109413A (en) * | 2017-12-13 | 2018-06-01 | 厦门金龙旅行车有限公司 | A kind of information interaction system of automatic driving vehicle and non intelligent traffic participant |
| CN108297864A (en) * | 2018-01-25 | 2018-07-20 | 广州大学 | The control method and control system of driver and the linkage of vehicle active safety technologies |
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