CN110889978A - Road worker safety enhancement system under automatic driving traffic environment - Google Patents
Road worker safety enhancement system under automatic driving traffic environment Download PDFInfo
- Publication number
- CN110889978A CN110889978A CN201911166404.7A CN201911166404A CN110889978A CN 110889978 A CN110889978 A CN 110889978A CN 201911166404 A CN201911166404 A CN 201911166404A CN 110889978 A CN110889978 A CN 110889978A
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- vehicle
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- automatic driving
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D13/00—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
- A41D13/01—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with reflective or luminous safety means
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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
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0018—Roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01306—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring vehicle inclination
Abstract
The invention relates to the technical field of automatic driving, in particular to a road worker safety enhancement system in an automatic driving traffic environment. The system comprises a vehicle control module, a vehicle-end V2X device, an automatic driving sensing unit and a human-end V2X device which are integrated on a vehicle; the vehicle control module is used for judging whether the vehicle is in an out-of-control state, giving an alarm when the vehicle is in the out-of-control state, and sending an alarm signal to vehicle end V2X equipment; the vehicle-end V2X equipment is used for receiving the positioning information of road workers and broadcasting the positioning information to surrounding V2X equipment; the automatic driving sensing unit is used for acquiring the position information of road workers; the man-end V2X device is used for sending road staff positioning information to the vehicle-end V2X device and warning the road staff. When the automatic driving vehicle is out of control, the vehicle end sends out of control information broadcast to the periphery through V2X, and after the V2X wearing part of the human end receives the information, the warning prompt is given to road workers, and avoidance is achieved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a road worker safety enhancement system in an automatic driving traffic environment.
Background
With the development of the automatic driving technology, various automatic driving vehicles (including conditional automatic driving, full automatic driving) have started to travel on roads, and the number will increase year by year in the future. Road workers, in contrast to normal pedestrians, may not be able to pay good attention to surrounding vehicles due to being on the lane for a long time and due to the task of work. The existing security protection measures are as follows:
(1) a road worker wears a conspicuous road work clothes;
(2) if the working area of the road staff is fixed, for example, the measures of placing warning boards and setting isolation belts are adopted in road construction.
The safety redundancy of the automatic driving vehicle to road workers is low, and the safety redundancy is represented as follows:
firstly, when a sensing system of the automatic driving vehicle has problems, such as missed recognition under certain light conditions and working conditions due to failure of a camera or limitation of a vision system, the existing clothes of road workers do not have a design for reinforcing recognition of other sensors on the automatic driving vehicle, and traffic accidents of the automatic driving vehicle are likely to occur due to the fact that the automatic driving vehicle does not recognize the road workers;
secondly, when the automatic driving vehicle is out of control, and the road staff possibly back to the vehicle, the traffic accident is very easy to happen because the condition of the out-of-control vehicle is not known in time.
At present, the road staff end generally only has road working clothes, and the road working clothes are characterized by brightening and obvious, only aiming at the vision of a traditional vehicle driver and not aiming at the safety design of an automatic driving vehicle.
It can be seen that the existing measures are designed for the human driver of a conventional vehicle. Under the novel traffic environment with automatic driving vehicles, especially under the condition that the automatic driving technology is not mature enough in a period of time in the future, there is no specific measure for better ensuring the safety of road workers at present.
Disclosure of Invention
The invention aims to provide a road worker safety enhancement system in an automatic driving traffic environment, aiming at the defects of the prior art, and the system can ensure the safety of road workers.
The invention relates to a road worker safety enhancement system in an automatic driving traffic environment, which adopts the technical scheme that:
the system comprises a vehicle control module, a vehicle-end V2X device, an automatic driving sensing unit and a human-end V2X device, wherein the vehicle control module, the vehicle-end V2X device, the automatic driving sensing unit and the human-end V2X device are integrated on a vehicle;
the vehicle control module is used for judging whether the vehicle is in an out-of-control state, giving an alarm when the vehicle is in the out-of-control state, and sending an alarm signal to vehicle end V2X equipment;
the vehicle-end V2X equipment is used for receiving road worker positioning information sent by the human-end V2X equipment, sending the road worker positioning information to the automatic driving sensing unit, receiving an alarm signal sent by the out-of-control judgment module and broadcasting the alarm signal to surrounding V2X equipment;
the automatic driving sensing unit is used for actively acquiring the position information of road workers;
the human-end V2X equipment is used for sending road staff positioning information to the vehicle-end V2X equipment, receiving an alarm signal broadcast by the vehicle-end V2X equipment and warning road staff.
Preferably, the automatic driving sensing unit comprises a camera, a millimeter wave radar and a laser radar.
Preferably, the human-end V2X equipment is arranged on the work clothes of road workers.
Comparatively preferred, road staff's work clothes includes the bright-colored main part of colour, the main part is openly all followed transversely or vertical coating with multichannel night light coating with the back, the main part is openly all coated with radar reflection reinforcing coating with the back.
Comparatively preferred, road staff's work clothes includes the bright-colored main part of colour, the main part is openly all followed transversely or vertically to have the multichannel night light coating with the back, the main part is openly all pasted or has been made up with the back a plurality of sheetmetals, the sheetmetal surface is for being used for the matte face of reflection radar.
Preferably, when the vehicle rolls over or is unstable, the vehicle is determined to be in an out-of-control state.
Preferably, the vehicle control module includes:
the side-turning sensor is used for detecting the posture of the vehicle body and sending the posture information of the vehicle body to the out-of-control judgment module;
and the out-of-control judgment module is used for receiving the vehicle running state signal, judging whether the vehicle is unstable or not, receiving the vehicle body attitude information sent by the side turning sensor, judging whether the vehicle turns on the side or not, and judging that the vehicle is in an out-of-control state when the vehicle is unstable or turns on the side.
Preferably, the vehicle running state signal includes vehicle speed, yaw rate, wheel speed, acceleration, steering angle, and braking force information.
Preferably, the human-end V2X device includes:
the positioning module is used for acquiring the safe position information of the road workers and sending the safe position information of the road workers to the communication module;
the communication module is used for sending positioning information of road workers to the vehicle-end V2X equipment, receiving an alarm signal broadcast by the vehicle-end V2X equipment and sending the alarm signal to the alarm module;
and the alarm module is used for receiving the alarm signal sent by the communication module and warning road workers.
Preferably, the human-end V2X device is located on the shoulder of a road worker.
The invention has the beneficial effects that:
1. the probability that the automatic driving vehicle senses road workers is increased, and safety redundancy is high. The people end in the system has stronger detectability to each sensor (camera, millimeter wave radar, laser radar, V2X) of the vehicle end, so long as the vehicle end sensors are not all invalid, the safety of road workers can be guaranteed, and traffic accidents caused by missing identification of the automatic driving vehicle sensing system are avoided.
2. When the automatic driving vehicle is out of control (such as the control system fails or rollover occurs due to an emergency), the vehicle end sends out-of-control information broadcast to the surroundings through the V2X, and after the V2X wearing part at the human end receives the information, the warning prompt is given to road workers. Thus, even if the road staff faces away from the vehicle out of control, the vehicle can be avoided in the first time.
Drawings
FIG. 1 is a schematic diagram of a road worker safety enhancement system in an autonomous driving traffic environment according to the present invention;
FIG. 2 is a schematic view of the internal connections of the vehicle control module of the present invention.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1, a road worker safety enhancement system in an autonomous driving traffic environment includes a vehicle control module integrated on a vehicle, a vehicle-end V2X device, an autonomous driving sensing unit, and a human-end V2X device disposed on a road worker. The vehicle control module is used for judging whether the vehicle is in an out-of-control state, giving an alarm when the vehicle is in the out-of-control state, and sending an alarm signal to vehicle end V2X equipment; the vehicle-end V2X equipment is used for receiving road worker positioning information sent by the human-end V2X equipment, sending the road worker positioning information to the automatic driving sensing unit, receiving an alarm signal sent by the runaway judgment module and broadcasting the alarm signal to surrounding V2X equipment; the automatic driving sensing unit is used for actively acquiring the position information of road workers; the human-end V2X equipment is used for sending road staff positioning information to the vehicle-end V2X equipment, receiving an alarm signal broadcast by the vehicle-end V2X equipment and warning the road staff.
As shown in fig. 2, the vehicle control module includes a rollover sensor for detecting the posture of the vehicle body and sending the posture information of the vehicle body to the out-of-control judgment module; and the out-of-control judgment module is used for receiving the vehicle running state signal, judging whether the vehicle is unstable or not, receiving the vehicle body attitude information sent by the side turning sensor, judging whether the vehicle turns on the side or not, and judging that the vehicle is in an out-of-control state when the vehicle is unstable or turns on the side. The vehicle running state signal comprises vehicle speed, yaw rate, wheel speed, acceleration, steering angle and braking force information.
The automatic driving sensing unit comprises a camera, a millimeter wave radar and a laser radar.
The human-end V2X equipment is arranged on a work clothes (vest or whole body) of a road worker, and the characteristics of brightening, obvious and noctilucence of the traditional road work clothes are reserved so as to increase the probability of identifying the road worker by a vehicle-end camera. Performing radar reflection enhancement treatment on the surface of the garment: radar reflection enhancement coatings, such as conductive coatings with carbon fiber powder or metal oxides as main raw materials, can be added on the surfaces of the clothes; alternatively, a metal sheet (film) may be attached, and the surface of the metal sheet (film) needs to be matte to enhance scattering. The radar reflection enhancement processing can obviously increase the probability of identifying road workers by the vehicle-end radar, especially when the workers are in a static state.
In this embodiment, road staff's work clothes includes the bright-coloured main part of colour, the main part is openly all followed transversely or vertical coating with the back and has multichannel night light coating, the main part is openly all coated with radar reflection enhancement coating or all paste or made a plurality of sheetmetals at the main part openly and the back, and the sheetmetal surface is for being used for the matte face of reflection radar.
The human-end V2X equipment comprises a positioning module, a communication module and a control module, wherein the positioning module is used for acquiring the safety position information of road workers and sending the safety position information of the road workers to the communication module; the communication module is used for sending positioning information of road workers to the vehicle-end V2X equipment, receiving an alarm signal broadcast by the vehicle-end V2X equipment and sending the alarm signal to the alarm module; and the alarm module is used for receiving the alarm signal sent by the communication module and giving an alarm to road workers, wherein the alarm can be in the form of voice, emergency buzzing, flashing and the like. The human-end V2X device is located on the shoulder of the road worker. For certain types of road workers, such as traffic police, the people-side V2X device can also be integrated into an intercom.
In this embodiment, the V2X communication is LTE-V communication, and accordingly, both the vehicle-side V2X device and the human-side V2X device are LTE-V devices.
In the driving process of the automatic driving automobile, as long as the condition that the camera, the millimeter wave radar, the laser radar and the V2X equipment are completely disabled does not occur, the automatic driving automobile can effectively sense the road workers in front:
(1) when camera, laser radar, V2X equipment became invalid, because of the road work clothes of people's end has radar reflection reinforcing coating, effectively increased road staff to millimeter wave radar's RCS, so, no matter road staff is quiescent condition or moving state, the millimeter wave radar of car end can both detect road staff effectively, avoids the traffic accident.
(2) When millimeter wave radar, laser radar, V2X equipment became invalid, because the road work clothes outward appearance of people's end is bright-colored, conspicuous, and is unanimous with general road work clothes, the road staff can be discerned effectively to the camera (or vision system) of car end, avoids the traffic accident.
(3) When camera, millimeter wave radar, V2X equipment became invalid, because of the road work clothes outward appearance of people's end is the non-dark colour, and the non-mirror surface in clothing surface, the laser radar of car end can detect road staff effectively, avoids the traffic accident.
(4) When the camera, the millimeter wave radar and the laser radar fail, the positioning unit in the V2X wearable equipment and the V2X roadside equipment are integrated into the road work clothes at the human end, so that more accurate positioning information of road workers can be obtained and sent to the surrounding vehicle ends with the assistance of the V2X roadside equipment and the base station; thus, the V2X equipment at the vehicle end can obtain the positioning information of the road staff, and the automatic driving vehicle can avoid the collision according to the information.
In another case, when the automatic driving vehicle is out of control (such as the control system fails or rollover occurs due to an emergency), the vehicle end sends out-of-control information broadcast to the surroundings through the V2X; after V2X wearing equipment on the shoulder of the human-end road work clothes receives the out-of-control alarm information, a warning unit in the equipment drives a buzzer to generate a rapid buzzing sound, and the warning prompt is given to road workers. Road workers can avoid the road at the first time after hearing the buzzing alarm.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (10)
1. A system for enhancing safety of road workers in an autonomous driving traffic environment, comprising: the system comprises a vehicle control module, a vehicle-end V2X device, an automatic driving sensing unit and a human-end V2X device, wherein the vehicle control module, the vehicle-end V2X device, the automatic driving sensing unit and the human-end V2X device are integrated on a vehicle;
the vehicle control module is used for judging whether the vehicle is in an out-of-control state, giving an alarm when the vehicle is in the out-of-control state, and sending an alarm signal to vehicle end V2X equipment;
the vehicle-end V2X equipment is used for receiving road worker positioning information sent by the human-end V2X equipment, sending the road worker positioning information to the automatic driving sensing unit, receiving an alarm signal sent by the out-of-control judgment module and broadcasting the alarm signal to surrounding V2X equipment;
the automatic driving sensing unit is used for actively acquiring the position information of road workers;
the human-end V2X equipment is used for sending road staff positioning information to the vehicle-end V2X equipment, receiving an alarm signal broadcast by the vehicle-end V2X equipment and warning road staff.
2. The system of claim 1, wherein the autopilot sensing unit comprises a camera, a millimeter wave radar, and a lidar.
3. The system of claim 1, wherein the human-end V2X device is disposed on a coverall of a road worker.
4. The system of claim 2, wherein the roadway worker's clothing includes a brightly colored body having a front and back surface that are coated with a plurality of night light coatings in a lateral or longitudinal direction, and a front and back surface that are coated with a radar reflection enhancing coating.
5. The system of claim 2, wherein the work clothes of the road workers comprise bright-colored main bodies, the front and back surfaces of each main body are coated with a plurality of noctilucent coatings along the transverse direction or the longitudinal direction, a plurality of metal sheets are adhered or sewn on the front and back surfaces of each main body, and the surfaces of the metal sheets are matte surfaces for reflecting radar.
6. The system of claim 1, wherein the vehicle is determined to be out of control when the vehicle rolls over or is unstable.
7. The system of claim 1, wherein the vehicle control module comprises:
the side-turning sensor is used for detecting the posture of the vehicle body and sending the posture information of the vehicle body to the out-of-control judgment module;
and the out-of-control judgment module is used for receiving the vehicle running state signal, judging whether the vehicle is unstable or not, receiving the vehicle body attitude information sent by the side turning sensor, judging whether the vehicle turns on the side or not, and judging that the vehicle is in an out-of-control state when the vehicle is unstable or turns on the side.
8. The system of claim 7, wherein the vehicle driving status signals include vehicle speed, yaw rate, wheel speed, acceleration, steering angle, and braking force information.
9. The system of claim 1, wherein the human-end V2X device comprises:
the positioning module is used for acquiring the safe position information of the road workers and sending the safe position information of the road workers to the communication module;
the communication module is used for sending positioning information of road workers to the vehicle-end V2X equipment, receiving an alarm signal broadcast by the vehicle-end V2X equipment and sending the alarm signal to the alarm module;
and the alarm module is used for receiving the alarm signal sent by the communication module and warning road workers.
10. The system of claim 1, wherein the human-end V2X device is located on a shoulder of the road worker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911166404.7A CN110889978A (en) | 2019-11-25 | 2019-11-25 | Road worker safety enhancement system under automatic driving traffic environment |
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| CN201911166404.7A CN110889978A (en) | 2019-11-25 | 2019-11-25 | Road worker safety enhancement system under automatic driving traffic environment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113353092A (en) * | 2021-06-22 | 2021-09-07 | 的卢技术有限公司 | Vehicle sensor failure disposal method and system |
| CN113838306A (en) * | 2021-09-03 | 2021-12-24 | 北京汽车研究总院有限公司 | Early warning method and device for automatically driving fleet |
| CN114648887A (en) * | 2022-03-24 | 2022-06-21 | 上海舟塔新材料科技有限公司 | Roadside object-rushing warning method, system and device based on luminous marking |
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