CN111409584A - Pedestrian protection method, device, computer equipment and storage medium - Google Patents
Pedestrian protection method, device, computer equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
- B60R21/38—Protecting non-occupants of a vehicle, e.g. pedestrians using means for lifting bonnets
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Abstract
The application relates to a pedestrian protection method, a pedestrian protection device, computer equipment and a storage medium. The method comprises the following steps: when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment; judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters; when the object characteristic parameters meet the preset conditions, acquiring an object image of the object through image acquisition equipment; identifying whether the object is a pedestrian according to the object image; when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting the pedestrian. By adopting the method, on the basis of accurately identifying the collision object, the accuracy of the result judgment of whether the collision object is a pedestrian is further improved through secondary judgment of the collision object, and the probability of judgment errors is greatly reduced.
Description
Technical Field
The present application relates to the field of vehicle safety protection technologies, and in particular, to a pedestrian protection method, apparatus, computer device, and storage medium.
Background
A pedestrian protection system is a protection system for a person outside a vehicle when the vehicle collides with the pedestrian. The traditional pedestrian protection system comprises the following steps: the system identifies the pedestrian through the sensor arranged at the front protection position of the vehicle, when the front collision occurs at a specific vehicle speed, the sensor detects a collision object in front, and after the collision object is judged to be the pedestrian, the engine hood automatically bounces so as to reduce the secondary damage caused by the fact that the pedestrian collides with the front hatch cover again.
However, the existing pedestrian protection system has the following technical defects: (1) inaccuracy of collision target determination. The existing system generally collects pressure signals when collision occurs through a pressure sensor arranged at a front guard, converts the pressure signals into electric signals, and judges whether the collided object is a pedestrian, an animal, a garbage can or a traffic facility through the curve of the electric signals. (2) Because the probability of misinformation is higher, the system frequently acts by mistake, because the pedestrian protection system belongs to the disposable system, need to change the system after the action, consequently, judge the mistake and will bring higher replacement cost problem to the pedestrian.
Therefore, the existing pedestrian protection method has the problems of inaccurate judgment of collision targets and easy false alarm.
Disclosure of Invention
In view of the above, it is necessary to provide a pedestrian protection method, apparatus, computer device and storage medium for solving the above technical problems of inaccurate determination of collision target and easy misinformation.
A pedestrian protection method, the method comprising:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment;
judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet the preset conditions, acquiring an object image of the object through image acquisition equipment;
identifying whether the object is a pedestrian according to the object image;
when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting the pedestrian.
In one embodiment, the object characteristic parameters include: the speed of movement of the object and the reflected energy of the object; the method further comprises the following steps:
and when the moving speed of the object is within a preset walking speed range and/or the reflected energy of the object is matched with the preset reflected energy of the pedestrian, judging that the characteristic parameter of the object meets the preset condition.
In one embodiment, the identifying whether the object is a pedestrian according to the object image includes:
extracting object characteristic information from the object image, and matching the object characteristic information with preset pedestrian characteristic information;
and when the object characteristic information is matched with the pedestrian characteristic information, determining that the object is a pedestrian.
In one embodiment, the image acquisition device comprises a fixed image acquisition device and a surround view image acquisition device; the fixed image acquisition equipment is used for acquiring an image right in front of the vehicle; the all-round looking image acquisition equipment is used for acquiring images of the left front part and the right front part of the vehicle.
In one embodiment, the method further comprises:
acquiring, by the radar detection device, an angle of the object with respect to the vehicle as an object angle;
and determining the corresponding image acquisition equipment according to the object angle so as to acquire the object image.
In one embodiment, the determining the image capturing device according to the object angle includes:
judging whether the angle of the object is within a preset fixed angle range;
when the object angle is in the fixed angle range, determining that the image acquisition equipment is the fixed image acquisition equipment;
and when the object angle exceeds the fixed angle range, determining that the image acquisition equipment is the all-round-view image acquisition equipment.
A pedestrian protection method, the method comprising:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment, and acquiring an object image of the object through image acquisition equipment;
judging whether the object characteristic parameters meet preset conditions or not, and identifying whether the object is a pedestrian or not according to the object image; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet the preset conditions and/or the object is identified as a pedestrian according to the object image, starting a pedestrian protection system; the pedestrian protection system is used for protecting the pedestrian.
A pedestrian protection apparatus, the apparatus comprising:
the system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring object characteristic parameters of an object through radar detection equipment when the vehicle is detected to collide with the object;
the judging module is used for judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
the acquisition module is used for acquiring an object image of the object through image acquisition equipment when the object characteristic parameters meet the preset conditions;
the identification module is used for identifying whether the object is a pedestrian according to the object image;
the starting module is used for starting the pedestrian protection system when the object is identified to be a pedestrian; the pedestrian protection system is used for protecting the pedestrian.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment;
judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet the preset conditions, acquiring an object image of the object through image acquisition equipment;
identifying whether the object is a pedestrian according to the object image;
when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting the pedestrian.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment;
judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet the preset conditions, acquiring an object image of the object through image acquisition equipment;
identifying whether the object is a pedestrian according to the object image;
when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting the pedestrian.
According to the pedestrian protection method, the pedestrian protection device, the computer equipment and the storage medium, when the collision between the vehicle and the object is detected, the object characteristic parameters are obtained through the radar detection equipment, whether the object characteristic parameters meet preset conditions or not is judged, and therefore the attribute of the object is preliminarily judged; when the characteristic parameters of the object meet preset conditions, further acquiring an object image of the object through image acquisition equipment, carrying out secondary judgment on the object according to the object image, and determining whether the object is a pedestrian; and when the object is identified as a pedestrian, starting a pedestrian protection system to protect the pedestrian. The method further increases the accuracy of the result judgment of whether the collision object is a pedestrian or not through secondary judgment of the collision object on the basis of accurately identifying the collision object, greatly reduces the probability of false alarm, and further avoids the problem of replacement cost brought to a user by replacing the pedestrian protection system again after the pedestrian protection system is started by mistake due to false alarm, thereby solving the technical problem of high probability of false alarm caused by inaccurate judgment of collision targets in the traditional method.
Drawings
FIG. 1 is a flow diagram of a pedestrian protection method in one embodiment;
FIG. 2 is a block diagram showing the structure of an image pickup apparatus according to an embodiment;
FIG. 3 is a flow chart illustrating a pedestrian protection method according to another embodiment;
FIG. 4 is a block diagram of a pedestrian protection apparatus in one embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a pedestrian protection method applied to a vehicle on which a collision detection device, a radar detection device, an image pickup device, and a controller are mounted, wherein the radar detection device may be a millimeter wave radar. The image acquisition equipment can be a camera, and specifically can comprise a fixed camera and a look-around camera, wherein the look-around camera is used for realizing complementation with the fixed camera and acquiring images of a dead zone part of the fixed camera. In this embodiment, the method includes the steps of:
and step S102, when the vehicle is detected to collide with the object, acquiring object characteristic parameters of the object through the radar detection equipment.
The object characteristic parameter may be a parameter characterizing the object, such as the moving speed of the object and the reflected energy of the object.
In the concrete implementation, when the collision detection equipment detects that the vehicle collides with the object, a collision signal is generated and sent to the controller, and after the controller receives the collision signal, a detection instruction is generated and sent to the radar detection equipment, so that the radar detection equipment acquires the object moving speed and the object reflection energy of the object collided by the vehicle.
In practical application, the millimeter wave radar can be adopted to obtain the characteristic parameters of the object. After the millimeter wave radar receives the detection command sent by the controller, the electromagnetic wave is transmitted to the detected object at equal time intervals, and the moving speed of the detected object relative to the vehicle is determined according to the echo signal frequency difference.
Step S104, judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with the preset pedestrian characteristic parameters.
In the concrete realization, after obtaining object characteristic parameter through radar detection equipment, radar detection equipment will further judge whether object characteristic parameter satisfies preset condition, judge promptly whether object characteristic parameter matches with preset pedestrian characteristic parameter, more specifically, judge promptly whether object moving speed matches with preset pedestrian walking speed, and, judge whether object reflection energy matches with pedestrian reflection energy to whether the object that the judgement vehicle collided belongs to the pedestrian norm, realize the primary identification to this object.
And S106, when the characteristic parameters of the object meet preset conditions, acquiring the object image of the object through the image acquisition equipment.
In the specific implementation, when the radar detection device judges that the object characteristic parameters meet the preset conditions, namely the object characteristic parameters are matched with the pedestrian characteristic parameters, the radar detection device sends the judgment result to the controller, the controller generates an image acquisition instruction according to the judgment result and sends the image acquisition instruction to the image acquisition device, so that the image acquisition device acquires the object image of the object.
In practical application, a plurality of image acquisition devices can be installed on a vehicle, for example, images in front of the vehicle can be acquired through a fixed camera, images in front of the right and left of the vehicle can be acquired through a look-around camera, and therefore partial images of dead zones of the fixed camera can be acquired.
And step S108, identifying whether the object is a pedestrian according to the object image.
In a specific implementation, after an object image is obtained, an image processor of the image acquisition device performs image recognition on the object image to judge whether the object is a pedestrian. The step of identifying the object image comprises the following steps: firstly, extracting object characteristic information from the object image, judging whether the object characteristic information is the characteristic information of a pedestrian, and judging that the object is the pedestrian when the characteristic information belongs to the characteristic information of the pedestrian.
Step S110, when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting pedestrians.
In the concrete implementation, when the image processor identifies that the object collided by the vehicle is a pedestrian according to the object image, the identification result is sent to the controller, and the pedestrian protection system is started by the controller to protect the pedestrian, so that the situation that the pedestrian collides with the front hatch cover of the vehicle again to cause secondary damage is avoided.
In the pedestrian protection method, when the collision between the vehicle and the object is detected, the object characteristic parameters are obtained through the radar detection equipment, whether the object characteristic parameters meet preset conditions or not is judged, and the attribute of the object is preliminarily judged; when the characteristic parameters of the object meet preset conditions, further acquiring an object image of the object through image acquisition equipment, carrying out secondary judgment on the object according to the object image, and determining whether the object is a pedestrian; and when the object is identified as a pedestrian, starting a pedestrian protection system to protect the pedestrian. On the basis of accurately identifying the collision object, the accuracy of the result judgment of whether the collision object is a pedestrian is further improved through secondary judgment of the collision object, the probability of misinformation is greatly reduced, and the problem of replacement cost brought to a user by replacing a pedestrian protection system again after the pedestrian protection system is started by mistake due to misinformation is further avoided, so that the technical problem that the probability of misinformation is high due to inaccurate judgment of a collision target in the traditional method is solved.
In one embodiment, the object characteristic parameters include: the speed of movement of the object and the reflected energy of the object; the method further comprises the following steps: and when the moving speed of the object is in a preset walking speed range and/or the reflected energy of the object is matched with the preset reflected energy of the pedestrian, judging that the characteristic parameters of the object meet the preset conditions.
In the specific implementation, after the object characteristic parameters of the object are acquired through the radar detection device, the characteristic parameters are matched with the preset pedestrian characteristic parameters, and whether the object characteristic parameters meet the preset conditions or not is judged according to the matching result. Further, a matching result is determined by judging whether the moving speed of the object is within a preset walking speed range or not and judging whether the reflected energy of the object is matched with the preset reflected energy of the pedestrian or not. When at least one of the two conditions that the moving speed of the object is in the preset walking speed range and the reflected energy of the object is matched with the preset reflected energy of the pedestrian is met, the characteristic parameter of the object is judged to meet the preset condition. Otherwise, when the moving speed of the object is not within the preset walking speed range and the reflected energy of the object is not matched with the preset reflected energy of the pedestrian, the characteristic parameter of the object is judged not to meet the preset condition.
In this embodiment, when the moving speed of the object is within the preset traveling speed range and at least one of the two conditions that the reflected energy of the object matches the reflected energy of the preset pedestrian is satisfied, the characteristic parameter of the object is determined to satisfy the preset condition, and the collision object is determined according to the conditions, so that various possibilities that the collision object is a pedestrian are fully considered, and the situation that the collision object is actually a pedestrian is avoided, but the pedestrian protection system is not started due to a misjudgment due to the fact that one of the conditions is not satisfied, and the pedestrian is injured.
In an embodiment, the step S108 specifically includes: extracting object characteristic information from the object image, and matching the object characteristic information with preset pedestrian characteristic information; and when the object characteristic information is matched with the pedestrian characteristic information, determining that the object is a pedestrian.
In the concrete implementation, after an object image of an object collided by a vehicle is obtained, the image processor identifies the object image, extracts object characteristic information from the object image, matches the object characteristic information with preset pedestrian characteristic information and judges whether the object is a pedestrian. When the object characteristic information is matched with the preset pedestrian characteristic information, the object is judged to be a pedestrian, and a pedestrian protection system can be started; on the contrary, when the object characteristic information is not matched with the preset pedestrian characteristic information, the object is judged to be not a pedestrian, and the pedestrian protection system does not need to be started.
In the embodiment, the image shot by the image acquisition equipment is identified, pedestrians with different forms can be identified, accurate identification of the collision object is achieved, identification accuracy is improved, whether the pedestrian protection system is started or not is accurately judged according to the identification result, and the problem that misoperation of the pedestrian protection system is caused due to judgment errors is greatly reduced.
In one embodiment, as shown in fig. 2, it is a block diagram of an image capturing device, which includes a fixed image capturing device 202 and a panoramic image capturing device 204; wherein the fixed image capturing device 202 is used for capturing an image right in front of the vehicle; the all-round image capturing device 204 is used to capture images of the front left and right of the vehicle.
The panoramic image acquisition equipment has a large detection angle and can be used for acquiring images of the blind area parts of the fixed image acquisition equipment, namely the left front part and the right front part of the vehicle.
In this embodiment, through the combined action of fixed image acquisition equipment and all-round looking image acquisition equipment, make all-round looking image acquisition equipment gather the image of fixed image acquisition equipment blind area part, form complementary action with fixed image acquisition equipment, thereby, make when the vehicle collides with the object, can gather the object image of the object that collides, discern colliding with the object, and then confirm whether to start pedestrian protection system according to the recognition result, avoid only through an image acquisition equipment, appear when colliding with the object in the blind area of this image acquisition equipment, can not gather the object image, can't carry out the problem of discerning to this object.
In one embodiment, the method further comprises: acquiring the angle of an object relative to a vehicle through radar detection equipment as an object angle; and determining corresponding image acquisition equipment according to the angle of the object so as to acquire the image of the object.
In a specific implementation, when the radar detection device acquires the object characteristic parameters of the object collided by the vehicle, the angle of the object relative to the vehicle is acquired, and the angle is used as the object angle. Further, the controller may determine whether to employ a fixed image capture device or a panoramic image capture device to capture an object image of the object based on the object angle.
In this embodiment, through the synergistic effect of radar detection equipment and image acquisition equipment, after radar detection equipment acquires the angle of the object relative to the vehicle, that is, can determine the position of the object, can accurately determine whether to adopt fixed image acquisition equipment or look around image acquisition equipment according to the angle of the object, improve the acquisition efficiency of the object image, avoid that when only adopting image acquisition equipment, the position of the object cannot be determined, and the fixed image acquisition equipment and the look around image acquisition equipment need to acquire images simultaneously, and then judge which image the object is in, just can determine that the object image causes a large amount of calculation, and consumes time, the problem of inefficiency.
In one embodiment, the step of determining the image capturing device according to the angle of the object includes: judging whether the angle of the object is within a preset fixed angle range; when the angle of the object is in the fixed angle range, determining the image acquisition equipment as fixed image acquisition equipment; and when the angle of the object exceeds the fixed angle range, determining that the image acquisition equipment is the all-round view image acquisition equipment.
Wherein the fixed angle range may represent an angle range of an image captured by the fixed image capturing device.
In the specific implementation, after the angle of the object relative to the vehicle, namely the object angle, is obtained, whether the object angle is within a preset fixed angle range is firstly judged, and the corresponding image acquisition equipment is adopted to acquire the object image according to the judgment result. When the angle of the object is within the fixed angle range, namely the object is within the acquisition range of the fixed image acquisition equipment, the fixed image acquisition equipment can be determined to be used for acquiring the object image; on the contrary, when the angle of the object exceeds the fixed angle range, that is, the object is in the dead zone of the fixed image capturing device, at this time, it may be determined that the object image of the object is captured using the all-round image capturing device.
In this embodiment, after the object angle of the object relative to the vehicle is obtained, whether the object angle is within the preset fixed angle range is determined, so that the corresponding image acquisition device is determined according to the determination result, and the acquisition efficiency of the object image is improved.
In another embodiment, as shown in fig. 3, there is provided a pedestrian protection method applied to a vehicle, the method comprising the steps of:
step S302, when the vehicle is detected to collide with the object, object characteristic parameters of the object are acquired through the radar detection device, and an object image of the object is acquired through the image acquisition device.
The object characteristic parameter may be a parameter characterizing the object, such as the moving speed of the object and the reflected energy of the object.
In the concrete implementation, when collision detection equipment detects that a vehicle collides with an object, a collision signal is generated and sent to a controller, after the controller receives the collision signal, a detection instruction is generated and sent to radar detection equipment, so that the radar detection equipment acquires the object moving speed and the object reflection energy of the object collided by the vehicle, and the controller generates an image acquisition instruction and sends the image acquisition instruction to image acquisition equipment, so that the image acquisition equipment acquires an object image of the object.
Step S304, judging whether the object characteristic parameters meet preset conditions or not, and identifying whether the object is a pedestrian or not according to the object image; the preset condition is that the object characteristic parameters are matched with the preset pedestrian characteristic parameters.
In the specific implementation, after the object characteristic parameters are acquired through the radar detection device, the radar detection device further judges whether the object characteristic parameters meet preset conditions, namely judges whether the moving speed of the object is matched with the preset walking speed of a pedestrian, judges whether the reflected energy of the object is matched with the reflected energy of the pedestrian, and sends the judgment result to the controller.
Step S306, when the characteristic parameters of the object meet preset conditions and/or the object is identified as a pedestrian according to the object image, starting a pedestrian protection system; the pedestrian protection system is used for protecting pedestrians.
In specific implementation, the judgment that the object characteristic parameters meet the preset conditions is recorded as a condition one, and the identification that the object collided with by the vehicle is a pedestrian according to the object image is recorded as a condition two. And when at least one of the first condition and the second condition is met, starting a pedestrian protection system to protect pedestrians.
In this embodiment, when a collision between the vehicle and the object is detected, the radar detection device is used to obtain the characteristic parameters of the object, and the image acquisition device is used to acquire the image of the object. Further judging whether the object characteristic parameters meet preset conditions or not, and identifying whether the collided object is a pedestrian or not according to the object image; and when at least one of the object characteristic parameters meets a preset condition and the collision object is identified to be a pedestrian according to the object image, starting the pedestrian protection system. The collision object is identified through the image acquisition equipment and the radar detection equipment, the accuracy of object identification is improved, and the probability of misjudgment is greatly reduced, so that the problems that in the traditional method, the object is inaccurately identified by adopting a pressure sensor, the misjudgment is easy, other objects are judged as pedestrians, the pedestrian protection system is frequently started, and more system replacement cost is brought to a user are solved.
It should be understood that although the steps in the flowcharts of fig. 1 and 3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 and 3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided a pedestrian protection apparatus including: an obtaining module 402, a judging module 404, an acquiring module 406, an identifying module 408 and a starting module 410, wherein:
an obtaining module 402, configured to obtain an object characteristic parameter of an object through a radar detection device when a collision between the vehicle and the object is detected;
a judging module 404, configured to judge whether the object characteristic parameter meets a preset condition; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
the acquisition module 406 is configured to acquire an object image of the object through the image acquisition device when the object characteristic parameter meets a preset condition;
an identifying module 408 for identifying whether the object is a pedestrian according to the object image;
a starting module 410 for starting the pedestrian protection system when the object is identified as a pedestrian; the pedestrian protection system is used for protecting pedestrians.
In one embodiment, the object characteristic parameters include: the speed of movement of the object and the reflected energy of the object; the determining module 404 is specifically configured to: and when the moving speed of the object is in a preset walking speed range and/or the reflected energy of the object is matched with the preset reflected energy of the pedestrian, judging that the characteristic parameters of the object meet the preset conditions.
In an embodiment, the identifying module 408 is specifically configured to: extracting object characteristic information from the object image, and matching the object characteristic information with preset pedestrian characteristic information; and when the object characteristic information is matched with the pedestrian characteristic information, determining that the object is a pedestrian.
In one embodiment, the image capture device comprises a stationary image capture device and a surround view image capture device; the fixed image acquisition equipment is used for acquiring an image right in front of the vehicle; the all-round-looking image acquisition device is used for acquiring images of the left front part and the right front part of the vehicle.
In one embodiment, the above apparatus further comprises:
the angle determining module is used for acquiring the angle of an object relative to the vehicle through the radar detection equipment as an object angle;
and the device determining module is used for determining corresponding image acquisition devices according to the object angles so as to acquire object images.
In an embodiment, the device determination module is specifically configured to: judging whether the angle of the object is within a preset fixed angle range; when the angle of the object is in the fixed angle range, determining the image acquisition equipment as fixed image acquisition equipment; and when the angle of the object exceeds the fixed angle range, determining that the image acquisition equipment is the all-round view image acquisition equipment.
It should be noted that, the pedestrian protection apparatus of the present application corresponds to the pedestrian protection method of the present application one to one, and the technical features and the advantages thereof described in the embodiments of the pedestrian protection method are all applicable to the embodiments of the pedestrian protection apparatus, and specific contents can be referred to the description in the embodiments of the method of the present application, which is not described herein again, and thus, the disclosure is hereby made.
In addition, all or part of each module in the pedestrian protection device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data acquired and processed by each sensor in the process of collision between the vehicle and an object. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a pedestrian protection method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment;
judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet preset conditions, acquiring an object image of the object through image acquisition equipment;
identifying whether the object is a pedestrian according to the object image;
when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting pedestrians.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the object characteristic parameters comprise: the speed of movement of the object and the reflected energy of the object; and when the moving speed of the object is within a preset walking speed range and/or the reflected energy of the object is matched with the preset reflected energy of the pedestrian, judging that the characteristic parameters of the object meet the preset conditions.
In one embodiment, the processor, when executing the computer program, further performs the steps of: extracting object characteristic information from the object image, and matching the object characteristic information with preset pedestrian characteristic information; and when the object characteristic information is matched with the pedestrian characteristic information, determining that the object is a pedestrian.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the image acquisition equipment comprises fixed image acquisition equipment and all-round image acquisition equipment; the fixed image acquisition equipment is used for acquiring an image right in front of the vehicle; the all-round-looking image acquisition device is used for acquiring images of the left front part and the right front part of the vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the angle of an object relative to a vehicle through radar detection equipment as an object angle; and determining corresponding image acquisition equipment according to the angle of the object so as to acquire the image of the object.
In one embodiment, the processor, when executing the computer program, further performs the steps of: judging whether the angle of the object is within a preset fixed angle range; when the angle of the object is in the fixed angle range, determining the image acquisition equipment as fixed image acquisition equipment; and when the angle of the object exceeds the fixed angle range, determining that the image acquisition equipment is the all-round view image acquisition equipment.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment;
judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet preset conditions, acquiring an object image of the object through image acquisition equipment;
identifying whether the object is a pedestrian according to the object image;
when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting pedestrians.
In one embodiment, the computer program when executed by the processor further performs the steps of: the object characteristic parameters comprise: the speed of movement of the object and the reflected energy of the object; and when the moving speed of the object is within a preset walking speed range and/or the reflected energy of the object is matched with the preset reflected energy of the pedestrian, judging that the characteristic parameters of the object meet the preset conditions.
In one embodiment, the computer program when executed by the processor further performs the steps of: extracting object characteristic information from the object image, and matching the object characteristic information with preset pedestrian characteristic information; and when the object characteristic information is matched with the pedestrian characteristic information, determining that the object is a pedestrian.
In one embodiment, the computer program when executed by the processor further performs the steps of: the image acquisition equipment comprises fixed image acquisition equipment and all-round image acquisition equipment; the fixed image acquisition equipment is used for acquiring an image right in front of the vehicle; the all-round-looking image acquisition device is used for acquiring images of the left front part and the right front part of the vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the angle of an object relative to a vehicle through radar detection equipment as an object angle; and determining corresponding image acquisition equipment according to the angle of the object so as to acquire the image of the object.
In one embodiment, the computer program when executed by the processor further performs the steps of: judging whether the angle of the object is within a preset fixed angle range; when the angle of the object is in the fixed angle range, determining the image acquisition equipment as fixed image acquisition equipment; and when the angle of the object exceeds the fixed angle range, determining that the image acquisition equipment is the all-round view image acquisition equipment.
It will be understood by those of ordinary skill in the art that all or a portion of the processes of the methods of the embodiments described above may be implemented by a computer program that may be stored on a non-volatile computer-readable storage medium, which when executed, may include the processes of the embodiments of the methods described above, wherein any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A pedestrian protection method, characterized in that the method comprises:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment;
judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet the preset conditions, acquiring an object image of the object through image acquisition equipment;
identifying whether the object is a pedestrian according to the object image;
when the object is identified to be a pedestrian, starting a pedestrian protection system; the pedestrian protection system is used for protecting the pedestrian.
2. The method of claim 1, wherein the object characteristic parameters comprise: the speed of movement of the object and the reflected energy of the object; the method further comprises the following steps:
and when the moving speed of the object is within a preset walking speed range and/or the reflected energy of the object is matched with the preset reflected energy of the pedestrian, judging that the characteristic parameter of the object meets the preset condition.
3. The method of claim 1, wherein said identifying whether the object is a pedestrian from the object image comprises:
extracting object characteristic information from the object image, and matching the object characteristic information with preset pedestrian characteristic information;
and when the object characteristic information is matched with the pedestrian characteristic information, determining that the object is a pedestrian.
4. The method of claim 1, wherein the image capture device comprises a stationary image capture device and a look-around image capture device; the fixed image acquisition equipment is used for acquiring an image right in front of the vehicle; the all-round looking image acquisition equipment is used for acquiring images of the left front part and the right front part of the vehicle.
5. The method of claim 4, further comprising:
acquiring, by the radar detection device, an angle of the object with respect to the vehicle as an object angle;
and determining the corresponding image acquisition equipment according to the object angle so as to acquire the object image.
6. The method of claim 5, wherein determining the image acquisition device as a function of the object angle comprises:
judging whether the angle of the object is within a preset fixed angle range;
when the object angle is in the fixed angle range, determining that the image acquisition equipment is the fixed image acquisition equipment;
and when the object angle exceeds the fixed angle range, determining that the image acquisition equipment is the all-round-view image acquisition equipment.
7. A pedestrian protection method, characterized in that the method comprises:
when the collision between the vehicle and the object is detected, acquiring object characteristic parameters of the object through radar detection equipment, and acquiring an object image of the object through image acquisition equipment;
judging whether the object characteristic parameters meet preset conditions or not, and identifying whether the object is a pedestrian or not according to the object image; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
when the object characteristic parameters meet the preset conditions and/or the object is identified as a pedestrian according to the object image, starting a pedestrian protection system; the pedestrian protection system is used for protecting the pedestrian.
8. A pedestrian protection apparatus, characterized in that the apparatus comprises:
the system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring object characteristic parameters of an object through radar detection equipment when the vehicle is detected to collide with the object;
the judging module is used for judging whether the object characteristic parameters meet preset conditions or not; the preset condition is that the object characteristic parameters are matched with preset pedestrian characteristic parameters;
the acquisition module is used for acquiring an object image of the object through image acquisition equipment when the object characteristic parameters meet the preset conditions;
the identification module is used for identifying whether the object is a pedestrian according to the object image;
the starting module is used for starting the pedestrian protection system when the object is identified to be a pedestrian; the pedestrian protection system is used for protecting the pedestrian.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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