CN112455426A - Intelligent control system and method for avoiding ambulance - Google Patents
Intelligent control system and method for avoiding ambulance Download PDFInfo
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- CN112455426A CN112455426A CN202011230589.6A CN202011230589A CN112455426A CN 112455426 A CN112455426 A CN 112455426A CN 202011230589 A CN202011230589 A CN 202011230589A CN 112455426 A CN112455426 A CN 112455426A
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- 238000000034 method Methods 0.000 title claims description 15
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- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an intelligent control system for avoiding an ambulance, which comprises a camera, an image recognition system, a whole vehicle control system, a brake system, a lighting system and a steering system. The image recognition system of the invention recognizes the ambulance and captures the approach signal of the ambulance through the camera, and the whole vehicle control system plans the avoidance scheme according to the approach signal of the ambulance captured by the image recognition system. The safety of the ambulance, the medical staff and the patient is improved, and the passing efficiency of the ambulance can be improved to a certain extent.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an intelligent control system and method for avoiding an ambulance.
Background
Along with the continuous promotion of the national economic level, the living standard of people is continuously improved, the number of private cars is more and more, and roads in cities are more and more crowded. In this case, once a patient urgently needs the ambulance to go to the treatment, the ambulance may be blocked on the road, so that the time for the patient to arrive at the hospital is greatly delayed, which may possibly cause very serious consequences.
According to the fifty-third provisions of road traffic safety law: other vehicles and pedestrians should yield when police cars, fire trucks, ambulances, and engineering wreckers perform emergency tasks. In the process of driving training, drivers in China have theoretical and actual unhooking conditions and know to avoid according to law, but when emergency situations occur, the drivers often do not know how to reasonably avoid due to lack of training, and life rescue is delayed. In order to solve the problem, the invention discloses an intelligent control system for avoiding an ambulance, so that the safety of the ambulance, medical staff and patients is improved, and the passing efficiency of the ambulance can be improved to a certain extent.
Disclosure of Invention
The invention discloses an intelligent control system for avoiding an ambulance, which comprises a camera, a whole vehicle control system, an image recognition system, a braking system, a lighting system and a steering system, wherein the camera is connected with the whole vehicle control system;
the invention also provides an intelligent control method for avoiding the ambulance, which comprises the following specific steps:
s1: the camera acquires information of the front vehicle and the rear vehicle of the automobile, transmits the acquired image information to the image recognition system, and the image recognition system recognizes the image information and recognizes the image information of the ambulance and images of other vehicles in the front vehicle or the rear vehicle of the automobile;
s2: after the information of the ambulance and other vehicles is identified by the image identification system through the information acquired by the camera, the alarm flash lamp of the ambulance is captured and identified, and the states of the ambulance are identified and distinguished;
s3: after the image recognition system captures the approach signal of the ambulance in front or behind, the camera recognizes the relative driving direction, lane relation and relative distance between the vehicle and the ambulance, and transmits the recognized and distinguished information to the vehicle control system;
s4: after capturing an ambulance approach signal in front or behind by the image recognition system, recognizing the lane relation and the relative distance between the vehicle and other vehicles by the camera, and transmitting the recognized and distinguished information to the vehicle control system;
s51: if the ambulance runs on any lane in front of the vehicle and runs in the same direction as the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the relative distance between the vehicle and the ambulance is reduced to 30 meters, the vehicle control system decelerates and stops the vehicle through the braking system, and then the light system starts the hazard warning flash lamp;
s52: if the ambulance runs in the same lane in front of the vehicle and is opposite to the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the vehicle has a left lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a left steering lamp, the steering system controls the left steering to the left lane, and then the light system turns off the left steering lamp; if the vehicle has a right lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a right steering lamp, the steering system controls the right steering to the left lane, and then the light system turns off the right steering lamp;
s53: if the ambulance runs in the adjacent lane in front of the vehicle and is opposite to the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the relative distance between the vehicle and the ambulance is reduced to 30 meters, the vehicle control system decelerates and stops the vehicle through the braking system;
s54: if the ambulance runs in the same lane behind the vehicle and in the same direction as the vehicle, the whole vehicle control system does not perform any treatment; if the vehicle has a left lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a left steering lamp, the steering system controls the left steering to the left lane, and then the light system turns off the left steering lamp; if the vehicle has a right lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a right steering lamp, the steering system controls the right steering to the left lane, and then the light system turns off the right steering lamp;
s55: if the ambulance runs in the adjacent lane behind the vehicle and in the same direction as the vehicle, the whole vehicle control system decelerates to below 30km/h through the braking system.
Preferably, the cameras are installed at the front and rear of the automobile for acquiring vehicle information and road information at the front and rear of the automobile.
Preferably, in S51 and S53, the relative distance between the host vehicle and the ambulance is preferably reduced to 30 meters according to the specific speed of the vehicle, the steering performance of the vehicle, and the braking performance.
Preferably, in S52 and S54, no other vehicle in the lane is preferably within 5 meters from the host vehicle, depending on the specific speed and steering performance of the vehicle.
Preferably, the states of the ambulance include turning on the alarm flash lamp and turning off the alarm flash lamp.
Preferably, the ambulance approaching signal is within 50 meters relative to the vehicle only when the alarm flash lamp is turned on, and the relative distance tends to decrease, namely
The image can be captured by the image recognition system; wherein x is the relative distance between the ambulance and the vehicle, and t is the time.
Preferably, the relative distance between the vehicle and the host vehicle is the distance between a license plate of the vehicle and a camera of the host vehicle.
Preferably, the image recognition system stores images of an ambulance and a vehicle license plate in advance, and stores dynamic images of an alarm flash lamp of the ambulance at the same time.
Compared with the prior art, the invention has the beneficial effects that: the image recognition system of the invention recognizes the ambulance and captures the approach signal of the ambulance through the camera, and the whole vehicle control system plans the avoidance scheme according to the approach signal of the ambulance captured by the image recognition system. The safety of the ambulance, the medical staff and the patient is improved, and the passing efficiency of the ambulance can be improved to a certain extent.
Drawings
FIG. 1 is a flow chart of an intelligent control method for avoiding an ambulance.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to specific examples. It should be understood that the specific examples described herein are intended to be illustrative only and are not intended to be limiting.
Example 1
An intelligent control system for avoiding an ambulance comprises a camera, a whole vehicle control system, an image recognition system, a braking system, a lighting system and a steering system;
the invention also provides an intelligent control method for avoiding the ambulance, which comprises the following specific steps:
s1: the camera acquires information of the front vehicle and the rear vehicle of the automobile, transmits the acquired image information to the image recognition system, and the image recognition system recognizes the image information and recognizes the image information of the ambulance and images of other vehicles in the front vehicle or the rear vehicle of the automobile;
s2: after the information of the ambulance and other vehicles is identified by the image identification system through the information acquired by the camera, the alarm flash lamp of the ambulance is captured and identified, and the states of the ambulance are identified and distinguished;
s3: after the image recognition system captures the approach signal of the ambulance in front or behind, the camera recognizes the relative driving direction, lane relation and relative distance between the vehicle and the ambulance, and transmits the recognized and distinguished information to the vehicle control system;
s4: after capturing an ambulance approach signal in front or behind by the image recognition system, recognizing the lane relation and the relative distance between the vehicle and other vehicles by the camera, and transmitting the recognized and distinguished information to the vehicle control system;
s51: if the ambulance runs on any lane in front of the vehicle and runs in the same direction as the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the relative distance between the vehicle and the ambulance is reduced to 30 meters, the vehicle control system decelerates and stops the vehicle through the braking system, and then the light system starts the hazard warning flash lamp;
s52: if the ambulance runs in the same lane in front of the vehicle and is opposite to the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the vehicle has a left lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a left steering lamp, the steering system controls the left steering to the left lane, and then the light system turns off the left steering lamp; if the vehicle has a right lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a right steering lamp, the steering system controls the right steering to the left lane, and then the light system turns off the right steering lamp;
s53: if the ambulance runs in the adjacent lane in front of the vehicle and is opposite to the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the relative distance between the vehicle and the ambulance is reduced to 30 meters, the vehicle control system decelerates and stops the vehicle through the braking system;
s54: if the ambulance runs in the same lane behind the vehicle and in the same direction as the vehicle, the whole vehicle control system does not perform any treatment; if the vehicle has a left lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a left steering lamp, the steering system controls the left steering to the left lane, and then the light system turns off the left steering lamp; if the vehicle has a right lane and no other vehicle is within 5 meters of the vehicle on the lane, the light system turns on a right steering lamp, the steering system controls the right steering to the left lane, and then the light system turns off the right steering lamp;
s55: if the ambulance runs in the adjacent lane behind the vehicle and in the same direction as the vehicle, the whole vehicle control system decelerates to below 30km/h through the braking system.
Preferably, the cameras are installed at the front and rear of the automobile for acquiring vehicle information and road information at the front and rear of the automobile.
Preferably, in S51 and S53, the relative distance between the host vehicle and the ambulance is preferably reduced to 30 meters according to the specific speed of the vehicle, the steering performance of the vehicle, and the braking performance.
Preferably, in S52 and S54, no other vehicle in the lane is preferably within 5 meters from the host vehicle, depending on the specific speed and steering performance of the vehicle.
Preferably, the states of the ambulance include turning on the alarm flash lamp and turning off the alarm flash lamp.
Preferably, the ambulance approaching signal is within 50 meters relative to the vehicle only when the alarm flash lamp is turned on, and the relative distance tends to decrease, namely
The image can be captured by the image recognition system; wherein x is the relative distance between the ambulance and the vehicle, and t is the time.
Preferably, the relative distance between the vehicle and the host vehicle is the distance between a license plate of the vehicle and a camera of the host vehicle.
Preferably, the image recognition system stores images of an ambulance and a vehicle license plate in advance, and stores dynamic images of an alarm flash lamp of the ambulance at the same time.
The image recognition system of the invention recognizes the ambulance and captures the approach signal of the ambulance through the camera, and the whole vehicle control system plans the avoidance scheme according to the approach signal of the ambulance captured by the image recognition system. The safety of the ambulance, the medical staff and the patient is improved, and the passing efficiency of the ambulance can be improved to a certain extent.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (9)
1. The utility model provides an dodge intelligent control system of ambulance which characterized in that:
the vehicle-mounted intelligent control system comprises a camera, a vehicle control system, an image recognition system, a braking system, a lighting system and a steering system.
2. An intelligent control method for avoiding an ambulance is characterized by comprising the following steps:
s1: the camera acquires information of the front vehicle and the rear vehicle of the automobile, transmits the acquired image information to the image recognition system, and the image recognition system recognizes the image information and recognizes the image information of the ambulance and images of other vehicles in the front vehicle or the rear vehicle of the automobile;
s2: after the information of the ambulance and other vehicles is identified by the image identification system through the information acquired by the camera, the alarm flash lamp of the ambulance is captured and identified, and the states of the ambulance are identified and distinguished;
s3: after the image recognition system captures the approach signal of the ambulance in front or behind, the camera recognizes the relative driving direction, lane relation and relative distance between the vehicle and the ambulance, and transmits the recognized and distinguished information to the vehicle control system;
s4: after capturing an ambulance approach signal in front or behind by the image recognition system, recognizing the lane relation and the relative distance between the vehicle and other vehicles by the camera, and transmitting the recognized and distinguished information to the vehicle control system;
s51: if the ambulance runs on any lane in front of the vehicle and runs in the same direction as the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the relative distance between the vehicle and the ambulance is less than a certain distance, the whole vehicle control system decelerates and stops the vehicle through the braking system, and then the light system starts the danger alarm flash lamp;
s52: if the ambulance runs in the same lane in front of the vehicle and is opposite to the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the vehicle has a left lane and no other vehicle on the lane is within a certain distance from the vehicle, the light system turns on a left steering lamp, the steering system controls the left steering to the left lane, and then the light system turns off the left steering lamp; if the vehicle has a right lane and no other vehicle on the lane is away from the vehicle within a certain distance, the light system turns on a right steering lamp, the steering system controls the right steering to the left lane, and then the light system turns off the right steering lamp;
s53: if the ambulance runs in the adjacent lane in front of the vehicle and is opposite to the vehicle, the vehicle control system decelerates to below 30km/h through the braking system; if the relative distance between the vehicle and the ambulance is less than a certain distance, the whole vehicle control system decelerates and stops the vehicle through the braking system;
s54: if the ambulance runs in the same lane behind the vehicle and in the same direction as the vehicle, the whole vehicle control system does not perform any treatment; if the vehicle has a left lane and no other vehicle on the lane is within a certain distance from the vehicle, the light system turns on a left steering lamp, the steering system controls the left steering to the left lane, and then the light system turns off the left steering lamp; if the vehicle has a right lane and no other vehicle on the lane is away from the vehicle within a certain distance, the light system turns on a right steering lamp, the steering system controls the right steering to the left lane, and then the light system turns off the right steering lamp;
s55: if the ambulance runs in the adjacent lane behind the vehicle and in the same direction as the vehicle, the whole vehicle control system decelerates to below 30km/h through the braking system.
3. The intelligent control method for avoiding the ambulance according to claim 2, wherein:
the cameras are installed at the front part and the tail part of the automobile and used for acquiring vehicle information and road information in front of and behind the automobile.
4. The intelligent control method for avoiding the ambulance according to claim 2, wherein:
in S51 and S53, the relative distance between the host vehicle and the ambulance is less than a certain distance, which is 30 meters, according to the specific speed of the vehicle, the steering performance of the vehicle, and the braking performance of the vehicle.
5. The intelligent control method for avoiding the ambulance according to claim 2, wherein:
in S52 and S54, no other vehicle is within a certain distance of 5 meters from the host vehicle according to the specific speed and steering performance of the vehicle.
6. The intelligent control method for avoiding the ambulance according to claim 2, wherein:
the states of the ambulance are divided into turning on the alarm flash lamp and turning off the alarm flash lamp.
7. The intelligent control method for avoiding the ambulance according to claim 2, wherein:
the approach signal of the ambulance is that only when the alarm flash lamp is turned on, the relative distance between the alarm flash lamp and the ambulance is within 50 meters, and the relative distance tends to become smaller, namely
The image can be captured by the image recognition system; wherein x is the relative distance between the ambulance and the vehicle, and t is the time.
8. The intelligent control method for avoiding the ambulance according to claim 2, wherein:
the relative distance between the vehicle and the vehicle is the distance between the license plate of the vehicle and the camera of the vehicle.
9. The intelligent control method for avoiding the ambulance according to claim 2, wherein:
the image recognition system stores images of an ambulance and a vehicle license plate in advance, and also stores dynamic images of an alarm flash lamp of the ambulance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011230589.6A CN112455426A (en) | 2020-11-06 | 2020-11-06 | Intelligent control system and method for avoiding ambulance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011230589.6A CN112455426A (en) | 2020-11-06 | 2020-11-06 | Intelligent control system and method for avoiding ambulance |
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| CN112455426A true CN112455426A (en) | 2021-03-09 |
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| CN202011230589.6A Pending CN112455426A (en) | 2020-11-06 | 2020-11-06 | Intelligent control system and method for avoiding ambulance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911117A (en) * | 2021-11-03 | 2022-01-11 | 北京胜能能源科技有限公司 | Vehicle way-giving method and device, electronic equipment and storage medium |
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2020
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Application publication date: 20210309 |