CN113734207B - Vehicle safety protection system and method and vehicle - Google Patents
Vehicle safety protection system and method and vehicle Download PDFInfo
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- CN113734207B CN113734207B CN202010477803.1A CN202010477803A CN113734207B CN 113734207 B CN113734207 B CN 113734207B CN 202010477803 A CN202010477803 A CN 202010477803A CN 113734207 B CN113734207 B CN 113734207B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
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- B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The application discloses a vehicle safety protection system and method and a vehicle. The vehicle safety protection system comprises a plurality of sensors, a processor and a controller, wherein the sensors are arranged on a vehicle, the sensors are used for collecting environmental information and temperature around the vehicle so as to distinguish living organisms or objects, the processor fuses the information collected by the sensors and makes control decisions, and the controller controls the vehicle to run or send out warning information. According to the method and the device, the plurality of sensor information on the vehicle is fused, so that the advantages of different sensors can be exerted, surrounding environment information of the vehicle can be acquired more accurately, the running of the vehicle is controlled, the safety of living organisms around the vehicle is fully protected, and the running safety of the vehicle is guaranteed.
Description
Technical Field
The present application relates to the field of public transportation safety, and in particular, to a vehicle safety protection system and method, and a vehicle.
Background
With the development of public transportation such as highway automobiles and rail transit trains towards high flow, public transportation and intellectualization, the running speed of the vehicles is continuously improved, and the participation of people is smaller and smaller, so that higher requirements are provided for timely, effectively and accurately acquiring the surrounding environment of the vehicles. Safety accidents are inevitably generated in the actual operation process. How to effectively carry out safety protection to the operation of the vehicle, ensure the driving safety and have very important significance.
Disclosure of Invention
The application aims to provide a vehicle safety protection system and method and a vehicle. The vehicle safety protection system and method can effectively identify living organisms or objects in the surrounding environment of the vehicle, and timely control the vehicle so as to ensure the running safety of the vehicle.
An embodiment of a first aspect of the present application provides a vehicle safety protection system, including: the system comprises a plurality of sensors, a sensor module and a control module, wherein the plurality of sensors are installed on a vehicle and comprise a laser radar sensor and an infrared sensor, the laser radar sensor is used for collecting environmental information around the vehicle, and the infrared sensor is used for collecting the temperature of a target around the vehicle so as to distinguish living organisms or objects; the processor is connected with the plurality of sensors and used for fusing information acquired by the plurality of sensors, determining the position information or the behavior state of living organisms or objects around the vehicle and making a control decision; and the controller is used for controlling the vehicle to run and/or sending out warning information according to the control decision.
According to the vehicle safety protection system, living organisms or objects around a vehicle are distinguished through the infrared sensor, and through fusing a plurality of sensor information on the vehicle, the advantages of different sensors can be brought into play, the surrounding environment information of the vehicle can be acquired more accurately, the running of the vehicle is controlled, the safety of living organisms around the vehicle is fully protected, and the running safety of the vehicle is guaranteed.
A vehicle safety protection method according to an embodiment of the second aspect of the present application is performed by a vehicle safety protection system provided on a vehicle, the vehicle safety protection method including: collecting environmental information around a vehicle; collecting the temperature of a target surrounding the vehicle to distinguish between living organisms or objects; fusing the acquired environmental information around the vehicle and the temperature of the target around the vehicle, determining the position information or behavior state of living bodies or objects around the vehicle, and making a control decision; and controlling the vehicle to run and/or sending out warning information according to the control decision.
According to the vehicle safety protection method, living organisms or objects around the vehicle are distinguished, and the plurality of sensor information on the vehicle are fused, so that the advantages of different sensors can be brought into play, the surrounding environment information of the vehicle can be acquired more accurately, the operation of the vehicle is controlled, the safety of living organisms around the vehicle is fully protected, and the operation safety of the vehicle is guaranteed.
An embodiment of a third aspect of the present application provides a vehicle, including: the vehicle safety protection system according to the first aspect described above.
According to the vehicle disclosed by the embodiment of the application, the vehicle safety system is used for fusing the information of the plurality of sensors on the vehicle, so that the advantages of different sensors can be exerted, the surrounding environment information of the vehicle can be acquired more accurately, the running of the vehicle is controlled, the safety of living organisms around the vehicle is fully protected, and the running safety of the vehicle is ensured.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a block diagram of a vehicle safety protection system according to one embodiment of the present application;
FIG. 2 is a block diagram of a vehicle safety protection system according to another embodiment of the present application;
FIG. 3 is a flow chart of a vehicle safety protection method according to one embodiment of the present application;
fig. 4 is a flow chart of a vehicle safety protection method implemented on a rail platform according to one embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
A vehicle safety protection system of an embodiment of the present application is described below with reference to the accompanying drawings.
Fig. 1 is a vehicle safety shield system according to one embodiment of the present application. As shown in fig. 1, the vehicle safety protection system includes a plurality of sensors 110, a processor 120, and a controller 130.
A plurality of sensors 110 are mounted on the vehicle. The plurality of sensors include a lidar sensor for collecting environmental information around the vehicle and an infrared sensor for collecting a temperature of a target around the vehicle to distinguish a living organism or an object.
The processor 120 is connected to the plurality of sensors, and is configured to fuse information collected by the plurality of sensors, determine positional information or behavior states of living organisms or objects around the vehicle, and make control decisions.
The controller 130 is used for controlling the vehicle to run and/or sending out warning information according to the control decision.
According to the vehicle safety protection system, living organisms or objects around a vehicle are distinguished through the infrared sensor, and through fusing a plurality of sensor information on the vehicle, the advantages of different sensors can be brought into play, the surrounding environment information of the vehicle can be acquired more accurately, the running of the vehicle is controlled, the safety of living organisms around the vehicle is fully protected, and the running safety of the vehicle is guaranteed.
It should be noted that, the vehicle in the vehicle safety protection system of the embodiment of the present application may be a land vehicle, or may be a rail train, or may be another vehicle, which is not limited in this application, so long as the safety protection mechanism of the present application is used.
The infrared sensor in one embodiment of the present application may be used to collect living organisms or living bodies around a vehicle to distinguish pedestrians from other objects by identifying the temperature of the environmental object. The infrared sensor mainly uses the infrared characteristics of pedestrians and other link objects to be different for detection and distinction. In other embodiments, an infrared distance sensor may be used for distance detection, or the infrared sensor may be used to both distance and pedestrian discrimination from other environmental objects.
In one embodiment of the present application, the plurality of sensors further includes a millimeter wave radar sensor for acquiring environmental information around the vehicle.
According to the method and the device, the information collected by the plurality of sensors is fused, so that the surrounding environment of the vehicle can be monitored in all directions, the defects of different sensors are overcome, the advantages of the different sensors are adopted, the advantages and the advantages are compensated, the information collected by the plurality of sensors is more accurate, and the vehicle is controlled to run or alarm information is sent out according to the more accurate surrounding environment information.
The laser radar sensor can obtain information of a target detection object through information detection of a laser beam, for example, parameters such as a target distance, a direction, a height, a speed, a gesture, a shape and the like are obtained. The laser radar has accurate ranging capability, and the ranging accuracy can reach several centimeters.
In one embodiment of the application, the millimeter wave radar can be used for detecting whether a target object exists or not or whether the target object is far or near, and the millimeter wave radar can measure the position, the speed and the azimuth angle of the target object. The millimeter wave radar has the advantage of strong penetrating power, and under the environment such as smog dust, the advantage of millimeter wave radar is used for detecting the surrounding environment information of the vehicle more accurately, so that the information acquisition requirements of different environments can be met.
Combining the accurate detection capability of the laser radar sensor and the stronger penetrating power of the millimeter wave radar, carrying out fusion analysis on the detection information of the laser radar sensor and the millimeter wave radar, and fusing different sensors to form complementation and stronger, so that the environmental information around the vehicle can be accurately acquired, and the safe operation of the vehicle can be accurately protected.
In one embodiment of the present application, a millimeter wave radar sensor is specifically used to collect target information present in the surrounding environment of a vehicle to form a 2D reflectance image. The laser radar sensor is particularly used for collecting point cloud data of the surrounding environment of the vehicle to form a 3D point cloud image. The processor is specifically configured to project a 2D reflection image onto a 3D point cloud image, and determine location information or behavior states of living organisms or objects around the vehicle according to a degree of coincidence of the 2D reflection image projected onto the 3D point cloud image.
The sensor in the embodiment of the application can not directly trigger a vehicle control strategy or an alarm strategy, and in the embodiment, the information acquired by the sensor can be fused, for example, into a 3D image, so that the behavior state of people or objects around the vehicle is more intuitively reflected, and the train actively executes the safety protection actions on the surrounding people, objects and the like according to the image information. For example, the infrared sensor, the millimeter wave radar sensor, and the lidar sensor may be mounted on different locations of the vehicle. When the infrared sensor collects that living organisms such as people or animals exist around the vehicle, the position information or behavior state of the living organisms such as people, animals and the like around the vehicle can be more intuitively reflected by comprehensively applying the 3D point cloud data of the laser radar sensor and the 2D reflection image of the millimeter wave radar sensor.
The laser radar can obtain all target point data on the target object by continuously scanning the target object, and the target point data is subjected to imaging processing, so that an accurate 3D point cloud image of the target object can be obtained.
In one embodiment of the present application, the plurality of sensors further comprises a camera sensor. The camera sensor is used for collecting video or image information of the surrounding environment of the vehicle. The processor is specifically used for determining the position information or the behavior state of living organisms or objects around the vehicle through the coincidence degree of information acquired by the plurality of sensors.
The camera sensor can acquire video or image information of the surrounding environment of the vehicle, and can fuse information acquired by at least one sensor of the laser radar sensor, the infrared sensor, the millimeter wave radar sensor and the like. For example, the image fused by the laser radar sensor and the millimeter wave radar sensor is compared or projected with the image or video shot by the camera sensor, if the images are completely overlapped, the acquisition precision of the sensor is higher, and further verification is performed. The camera sensor can distinguish colors and has higher resolution. The camera can also authenticate the point cloud outline of the target object. Under different weather environments, the information such as living organisms or objects can be better assisted to be resolved through the camera sensor, and the information detected by the fused vehicle is more accurate, so that the safety protection of the train is more facilitated.
In one embodiment of the present application, the infrared sensor is a thermal infrared imager. The infrared thermal imager has strong penetrability, can penetrate thick fog and thick smoke, is convenient for working when the sight line is poor, has strong environment application range, and can normally work under the weak light conditions of visible light, night, thick smoke and the like. Therefore, the information acquired by the infrared thermal imager is little affected by the outside, and the information can be acquired well in a severe environment, so that the vehicle can be protected safely in the severe environment. The infrared thermal imager also has the advantages of wide temperature measuring range, high sensitivity, capability of distinguishing temperature difference of 0.1 ℃ or less, short reaction time, capability of measuring the temperature of a moving object and capability of measuring the temperature of a target of a few micrometers or less by means of a microscope lens, and is capable of measuring the temperature of the target of the moving object within a range of 0-2000 ℃. The infrared thermal imager can accurately and rapidly collect surrounding environment information, and safety protection of the vehicle is achieved more accurately.
In one embodiment of the present application, the plurality of sensors further includes a temperature sensor, a wind speed sensor, a humidity sensor, a sound detector, or a light detector. The temperature sensor, the wind speed sensor, the humidity sensor, the sound detector and the light detector are used for collecting the temperature, the wind speed, the humidity, the sound and the light around the vehicle. The processor is used for fusing information acquired by the sensors according to the temperature or the wind speed around the vehicle and determining the position information or the behavior state of living organisms or objects around the vehicle. Temperature sensor, wind speed sensor, humidity transducer, sound detector or light detector are utilized in this application embodiment to monitor vehicle ambient environment's temperature, wind speed, humidity, sound, light, can select the sensor that can be suitable for under the different environment through temperature, wind speed, humidity, sound, light like this. For example, in an area with an excessively high temperature, such as a tropical area, when the temperature sensor collects a temperature higher than a preset temperature value, the use of a radar sensor which is easily affected by the temperature can be reduced, or the collected data is subjected to high Wen Moshi calibration by adopting a compensation, shaping and other modes, so that the influence of the temperature on the collection result of the sensor is reduced. For example, in a case of a high wind speed in the normal years, when the wind speed is higher than a preset wind speed value, the possibility that people or objects in the surrounding environment of the vehicle move due to the influence of the environment is higher, the wind speed is detected by a wind speed sensor, and the alarm level is increased or the vehicle control level is increased when the wind speed is high.
The advantages and disadvantages of each sensor can be comprehensively utilized by adopting multi-sensor fusion to achieve better safety protection effect, and safety accidents caused by failure of individual sensors are avoided. The multi-sensor fusion can also fully utilize the advantages of each sensor by adopting different types of sensor fusion to the environment without use, and make up curves of other sensors in different technical layers, thereby realizing multi-azimuth dead-angle-free safety monitoring. The advantages and disadvantages of the sensor are comprehensively considered, such as avoiding the sensor which is easy to fail at high temperature and is greatly influenced by climate when the temperature is high and the wind is strong. In one embodiment of the present application, a processor includes a fusion unit and a decision unit. The fusion unit is used for fusing information acquired by the plurality of sensors. The decision unit is used for determining the position of the living organism according to the information fusion performed by the fusion unit and making a control decision.
Specifically, when a vehicle enters or exits, if the living organism distance from a platform boundary line is smaller than or equal to a first preset value, a control decision is made to control the train to stop or not start, and a broadcasting system sends out voice prompt information to remind passengers of dangerous areas or an alarm device sends out alarm information; if the distance between the living organism and the platform boundary line is larger than a first preset value and smaller than a second preset value, the control decision is formulated to control the vehicle to slow down or slowly travel, and a broadcasting system sends out voice prompt information to remind passengers of paying attention to safety; and if the distance between the living organism and the platform boundary line is greater than or equal to a second preset value, the control decision is formulated to control the vehicle to normally run. Wherein the first preset value is smaller than the second preset value.
In addition, in the running process of the vehicle, the living organism or object moves in the running direction of the vehicle, or the behavior state of the living organism or object moves in the running direction of the vehicle, if the distance between the living organism or object and the vehicle is smaller than or equal to a third preset value, the control decision is formulated to control the vehicle to stop, and a voice prompt message is sent out through a broadcasting system or an alarm message is sent out through an alarm; if the distance between the living organism or object and the vehicle is larger than the third preset value and smaller than the fourth preset value, the control decision is formulated to control the vehicle to decelerate, and a voice prompt message is sent out through a broadcasting system to remind passengers of paying attention to safety; and if the distance between the living organism or the object and the vehicle is greater than or equal to a fourth preset value, the control decision is formulated to control the vehicle to normally run. Wherein the third preset value is smaller than the fourth preset value.
The first preset value, the second preset value, the third preset value, the fourth preset value may be determined according to a hazard level, a distance of a hazard target from a vehicle or a platform. For example, the first preset value may be set to a very dangerous limit distance from the platform boundary line, such as 0.1 meters; the second preset value may be set to a length of a security guard line of the station from a track boundary. The third preset value may be set to a distance for safe braking of the vehicle for a certain time. The fourth preset value may be set to a distance substantially greater than the safe braking of the vehicle for a certain time.
The decision unit in the embodiment of the application can be combined with information after information acquired by a plurality of sensors is fused to make decisions. Decision making is performed by combining the detected positions of people or objects or behavior states, namely, the method is not limited to static objects, and possible dynamic changes are comprehensively considered, so that the accuracy of vehicle safety protection can be improved.
In one embodiment of the present application, the processor further comprises a filtering unit. The filtering unit is used for filtering information acquired by the plurality of sensors to remove useless information or incorrect information. For example, information outside the detected designated area is filtered, i.e. information outside the safety range is filtered. The processor is used for fusing the information filtered by the filtering unit. The filtering unit filters the invalid information before the sensor information is fused, so that the fusion efficiency can be improved. The filtering unit filters the invalid information, so that the information around the vehicle can be accurately acquired, and the vehicle safety protection can be timely and accurately realized.
In one embodiment of the present application, a lidar sensor is located at the head of the vehicle and an infrared sensor is located at the head of the vehicle. The sensor is mounted on the head of the vehicle, the sensing range of the sensor can be utilized to the greatest extent, the sensor is free from shielding, the information collecting effect is good, and the advantages of the sensor can be fully exerted. In one embodiment of the present application, the millimeter wave radar sensor and the camera sensor are located on both sides of the body of the vehicle. It should be understood that the number of the various sensors can be one or a plurality of sensors, and the number can be determined according to requirements.
The sensors are arranged on two sides of the automobile body of the automobile, so that information around the automobile can be detected in real time in the running process of the automobile, and safety protection is carried out in real time.
In the process of the train travelling on the track, the sensor information installed on the locomotive can be selected to be collected, resources are saved, and the safety protection efficiency is improved. When the train enters or leaves, sensor information arranged on two sides of the rail train is collected so as to carry out safety protection or early warning on personnel around the platform, fully utilize resources and ensure operation safety. The sensor in the embodiment of the application is arranged on the vehicle instead of the ground or a platform, so that the vehicle is more active and the safety protection of the vehicle on people or objects is more comprehensive. The sensor is installed on the vehicle to realize safety protection, so that the workload of workers in the platform or the vehicle advancing process can be reduced, the number of the workers is reduced, the vehicle operation cost is saved, the investment of protective equipment such as pavement, rails and the like can be reduced, and the cost is saved.
In the embodiment of the application, each type of sensor can be one or more, information acquired by different numbers of sensors can be installed or called according to requirements to be fused, and the types and the numbers of the touch sensors can be configured according to the requirements.
In one embodiment of the present application, at least one of the plurality of sensors, the processor, the controller is a device in a vehicle unmanned system. The safety protection device can utilize the existing sensor, the processor, the controller and other devices of the existing unmanned system to carry out safety protection on the vehicle in the running process, reduces the devices of the existing protection system by multiplexing the devices in the unmanned system, and can also greatly save the safety protection cost while accurately protecting.
The controller in the embodiment of the application can control the vehicle to stop and slow down, or give an alarm to prompt passengers or surrounding personnel to escape when the sensor collects disaster accidents such as fire disaster and the like on the vehicle or surrounding.
The vehicle safety protection system in the embodiment of the present application may be used for different types of vehicles, and is described in detail below in connection with the safety protection system of the rail vehicle in fig. 2. It should be understood that fig. 2 is only an embodiment, and does not limit the scope of protection of the present application.
Fig. 2 is a block diagram of a vehicle safety protection system according to another embodiment of the present application.
The vehicle safety protection system in the embodiment comprises a laser radar sensor, a millimeter wave radar sensor, a camera sensor, an infrared sensor, a filtering unit, a fusion unit, a decision unit, a controller, a vehicle control system and a station monitoring system.
The laser radar sensor, millimeter wave radar sensor, camera sensor, infrared sensor in this embodiment may correspond to a plurality of sensors in fig. 1, and the plurality of sensors may also be other types of sensors, such as a temperature sensor, a humidity sensor, a wind speed sensor, a microwave detector, a sound detector, a light detector, and the like. In particular, the functional role of each sensor may be consistent with the functional role described in fig. 1.
The functional roles of the filtering unit, the fusing unit, the decision unit, and the controller in this embodiment may also correspond to the corresponding components in fig. 1.
The vehicle control system in the present embodiment may be a brake system, for example, controlling the speed, the traveling direction, and the like of the vehicle. The vehicle control system is connected with the controller, and can execute corresponding vehicle control operations such as parking, decelerating, starting and the like according to the control instructions of the controller.
The station monitoring system in this embodiment may receive a control decision of the controller, for example, receive alarm information sent by the controller, so as to organize rescue or give an alarm prompt according to an alarm level.
The vehicle safety protection system is described in detail above with reference to fig. 1 and 2, and the vehicle safety protection method is described in detail below with reference to fig. 3 and 4.
Fig. 3 is a flow chart of a vehicle safety protection method according to one embodiment of the present application. The vehicle safety protection method may be performed by a vehicle safety protection system provided on a vehicle, the vehicle safety protection method including:
and 301, collecting environmental information around the vehicle.
302, the temperature of a target surrounding the vehicle is acquired to distinguish between living organisms or objects.
303, fusing the collected environmental information around the vehicle and the temperature of the target around the vehicle, determining the position information or behavior state of living bodies or objects around the vehicle, and making a control decision.
304, controlling the vehicle to run and/or sending out warning information according to the control decision.
According to the vehicle safety protection method, living organisms or objects around the vehicle are distinguished, and the plurality of sensor information on the vehicle are fused, so that the advantages of different sensors can be brought into play, the surrounding environment information of the vehicle can be acquired more accurately, the operation of the vehicle is controlled, the safety of living organisms around the vehicle is fully protected, and the operation safety of the vehicle is guaranteed.
Illustratively, fusing the collected environmental information around the vehicle with the temperature of the target around the vehicle, determining the position information or behavior state of living or objects around the vehicle, and making a control decision includes: acquiring target information existing in the surrounding environment of the vehicle by utilizing a millimeter wave radar sensor to form a 2D reflection image; collecting point cloud data of the surrounding environment of the vehicle by using a laser radar sensor to form a 3D point cloud image; projecting a 2D reflection image onto the 3D point cloud image, and determining the position information or behavior state of living organisms or objects around the vehicle according to the coincidence degree of the 2D reflection image projected onto the 3D point cloud image; control decisions are made based on the positional information or behavioral state of living organisms or objects surrounding the vehicle.
Illustratively, fusing the collected environmental information around the vehicle with the temperature of the target around the vehicle, determining the position information or behavior state of living or objects around the vehicle, and making a control decision further includes: and acquiring video or image information of the surrounding environment of the vehicle by using a camera sensor. Wherein projecting the 2D reflection image onto the 3D point cloud image, determining the position information or the behavior state of living organisms or objects around the vehicle according to the coincidence degree of the projection of the 2D reflection image onto the 3D point cloud image comprises: and determining the position information or the behavior state of living organisms or objects around the vehicle according to the coincidence degree of the 2D reflection image projected to the 3D point cloud image and the coincidence degree of the video or image information of the surrounding environment of the vehicle acquired by the camera sensor.
Illustratively, fusing the collected environmental information around the vehicle with the temperature of the target around the vehicle, determining the position information or behavior state of living or objects around the vehicle, and making a control decision further includes: and acquiring the temperature, the wind speed, the humidity, the sound and the light around the vehicle by using the temperature sensor, the wind speed sensor, the humidity sensor, the sound detector and the light detector. Wherein projecting the 2D reflection image onto the 3D point cloud image, determining the position information or the behavior state of living organisms or objects around the vehicle according to the coincidence degree of the 2D reflection image projected onto the 3D point cloud image includes: and according to the temperature or wind speed around the vehicle, combining the 2D reflection image, the 3D point cloud image and the video or image information of the surrounding environment of the vehicle to perform information fusion, and determining the position information or behavior state of living organisms or objects around the vehicle.
Illustratively, making a control decision based on the location information or behavioral state of living organisms or objects surrounding the vehicle includes: when a vehicle enters or exits, if the distance between living organisms and a boundary line of a platform is smaller than or equal to a first preset value, making a control decision to control the train to stop or not start, and sending out voice prompt information through a broadcasting system to remind passengers of dangerous areas or sending out alarm information through an alarm; if the living organism is greater than a first preset value and less than a second preset value from the platform boundary line, making a control decision to control the vehicle to slow down or slowly travel, and sending out voice prompt information through a broadcasting system to remind passengers of safety; if the distance between the living organism and the platform boundary line is greater than or equal to a second preset value, making a control decision to control the vehicle to normally run, wherein the first preset value is smaller than the second preset value; in the running process of the vehicle, the living organism moves in the running direction of the vehicle or the behavior state of the living organism is that the living organism moves in the running direction of the vehicle, if the distance between the living organism or the object and the vehicle is smaller than or equal to a third preset value, a control decision is made to control the vehicle to stop, and a voice prompt message is sent out through a broadcasting system or an alarm message is sent out through an alarm; if the distance between the living organism or object and the vehicle is larger than a third preset value and smaller than a fourth preset value, making a control decision to control the vehicle to decelerate, and sending out voice prompt information through a broadcasting system to remind passengers of safety; if the distance between the living organism or the object and the vehicle is greater than or equal to a fourth preset value, making a control decision to control the vehicle to normally run, wherein the third preset value is smaller than the fourth preset value.
Illustratively, the vehicle safety protection system is a part or all of a vehicle unmanned system.
The vehicle safety protection method of the present embodiment may correspond to the vehicle safety system of fig. 1 and 2, and may be used to execute the purposes and functions of the sensors, the processor and the controller of the vehicle safety system, and the effects brought by the method also correspond to the system described in fig. 1 and 2, so that the repetition is avoided, and the description is omitted herein.
The following describes the security protection procedure of the track platform in detail with reference to fig. 4.
Fig. 4 is a flow chart of a vehicle safety protection method implemented on a rail platform according to one embodiment of the present application.
401, a plurality of sensors acquire data.
402, fusing information acquired by a plurality of sensors.
403, analyzing the data after the fusion of the plurality of sensors.
404, analyzing the moving track of the obstacle and the person.
Steps 401-404 in this embodiment may refer to the functions and roles of the plurality of sensors and the processor in fig. 1, and are not described herein again for avoiding repetition. The sensors collect environmental information on or around the platform when the vehicle enters or exits.
The position and profile of the platform or the trackside passenger is analyzed, for example, to obtain the range of motion of the passenger's limb, and the behavior trace of the person is predicted by analyzing and identifying the person or object, via step 404. And calculating the distance between the person and the boundary line of the track platform and the distance between the person and the safety guard line of the track, and comparing the distance with the data ab stored in the field test. Where a is the extreme distance from the track boundary line which is very dangerous, and a smaller than a indicates a very dangerous. b is the length of the platform security guard line from the track boundary, and when the target distance is greater than a but less than b, it is determined to be dangerous. And b can also be used for judging the condition along the track.
405, it is determined whether a person is between the shield door and the door.
If the distance between any part of the platform and the track boundary line is smaller than a, the person is judged to be between the shielding door and the car door, the situation is judged to be extremely unsafe, and the train sends out three-level warning signals. The flow proceeds to step 408.a may be set to a very dangerous limit distance from the track boundary line.
406, it is determined that the person is outside the screening door or door, but still at risk.
If any part of the person at the platform is smaller than b but larger than a from the track boundary, the person is judged to be outside the shielding door or the car door but within the yellow warning line, the person is judged to be unsafe at the moment, the train sends out a secondary boundary signal, the train is controlled to enter the platform in a decelerating mode or to slowly start to exit the platform, and meanwhile the secondary warning signal is sent to the platform broadcasting system and the station control room through the communication system. b may be set to the length of the security guard line of the station from the track boundary. The platform broadcasting system sends out voice prompt to remind passengers that the safety range is exceeded. Meanwhile, a host computer positioned in the station control room sends out an audible and visual alarm when receiving the secondary warning signal, so as to remind workers of paying attention to the station condition. The flow proceeds to 411.
407, judging that the platform is unmanned or safe.
If the distance between any part of the platform personnel and the rail boundary is greater than b, the platform personnel is judged to be in a safe area or the platform is not occupied, and the train can normally run or start. The flow proceeds to 412.
408, the train is stopped emergently and alerted.
The platform broadcasts and sends out voice prompts to remind passengers of being very dangerous and stop in emergency. Meanwhile, a host computer positioned in the station monitoring room can send out acousto-optic early warning when receiving the three-level warning signal sent by the controller, so as to remind workers of paying attention to the station condition. The flow proceeds to 409.
409, the control center gives an alarm.
410, personnel automatically leave or personnel view. The flow proceeds to 410.
411, the train stops to get on or off, and starts normally.
412, the train is not stopped or is traveling normally.
It should be understood that fig. 4 is only one embodiment of a vehicle safety protection method, and is not intended to limit the scope of the present application.
In the description of the present application, it should be understood that the azimuth or positional relationship indicated by the terms "front", "rear", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (11)
1. A vehicle safety protection system, comprising:
the system comprises a plurality of sensors, a plurality of detection sensors and a control unit, wherein the plurality of sensors are arranged on a vehicle and comprise a laser radar sensor and an infrared sensor, the infrared sensor is a thermal infrared imager, the infrared sensor is used for detecting and collecting the temperature of a target around the vehicle by utilizing the difference of infrared characteristics of living organisms and other objects so as to distinguish living organisms or objects, and the laser radar sensor is used for collecting point cloud data of the surrounding environment of the vehicle to form a 3D point cloud image;
the plurality of sensors further comprise millimeter wave radar sensors and camera sensors, wherein the millimeter wave radar sensors are used for collecting target information existing in the surrounding environment of the vehicle to form a 2D reflected image, and the camera sensors are used for collecting video or image information of the surrounding environment of the vehicle;
The processor is connected with the plurality of sensors and used for fusing information acquired by the plurality of sensors, determining the position information or the behavior state of living organisms or objects around the vehicle and making a control decision;
the processor further includes:
the filtering unit is used for filtering information outside a detection designated area acquired by the plurality of sensors and removing useless information or incorrect information; the processor is used for fusing the information filtered by the filtering unit;
the processor is further configured to:
projecting the 2D reflection image onto the 3D point cloud image, and determining the position information or behavior state of living organisms or objects around the vehicle according to the coincidence degree of the 2D reflection image projected onto the 3D point cloud image and the coincidence degree of the video or image information of the surrounding environment of the vehicle acquired by the camera sensor;
and the controller is used for controlling the vehicle to run and/or sending out warning information according to the control decision.
2. The vehicle safety shield system according to claim 1, wherein the plurality of sensors further comprises at least one of a temperature sensor, a wind speed sensor, a humidity sensor, a sound detector, a light detector, wherein,
The temperature sensor, the wind speed sensor, the humidity sensor, the sound detector and the light detector are used for collecting the temperature, the wind speed, the humidity, the sound and the light around the vehicle;
the processor is used for fusing information acquired by the sensors according to at least one of temperature, wind speed, humidity, sound and light around the vehicle and determining position information or behavior state of living organisms or objects around the vehicle.
3. The vehicle safety shield system of any of claims 1-2, wherein the processor comprises:
the fusion unit is used for fusing the information acquired by the plurality of sensors;
the decision unit is used for determining the position of the living organism after information fusion according to the fusion unit and making a control decision;
specifically, when the vehicle enters or exits, if the living organism distance from the platform boundary line is smaller than or equal to a first preset value, the control decision is formulated to control the train to stop or not start, and a voice prompt message is sent out through a broadcasting system to remind passengers of dangerous areas or alarm information is sent out through an alarm; if the distance between the living organism and the platform boundary line is larger than the first preset value and smaller than the second preset value, the control decision is formulated to control the vehicle to slow down or slowly travel, and voice prompt information is sent out through the broadcasting system to remind passengers of paying attention to safety; if the distance between the living organism and the platform boundary line is greater than or equal to the second preset value, the control decision is formulated to control the vehicle to normally run, wherein the first preset value is smaller than the second preset value;
In the running process of the vehicle, the living organism or the object moves in the running direction of the vehicle, or the behavior state of the living organism or the object moves in the running direction of the vehicle, if the distance between the living organism or the object and the vehicle is smaller than or equal to a third preset value, the control decision is made to control the vehicle to stop, and a voice prompt message is sent out through a broadcasting system or an alarm message is sent out through an alarm; if the distance between the living organism or the object and the vehicle is larger than a third preset value and smaller than a fourth preset value, the control decision is formulated to control the vehicle to decelerate, and a voice prompt message is sent out through the broadcasting system to remind passengers of paying attention to safety; and if the distance between the living organism or the object and the vehicle is greater than or equal to a fourth preset value, the control decision is formulated to control the vehicle to normally run, wherein the third preset value is smaller than the fourth preset value.
4. The vehicle safety shield system of claim 1 wherein said lidar sensor is located at the head of said vehicle and said infrared sensor is located at the head of said vehicle.
5. The vehicle safety protection system according to claim 1, wherein the millimeter wave radar sensor and the camera sensor are located on both sides of a body of the vehicle.
6. The vehicle safety shield system of claim 1 wherein at least one of the plurality of sensors, the processor, and the controller is a device in a vehicle unmanned system.
7. A vehicle comprising the vehicle safety protection system of any one of claims 1-6.
8. A vehicle safety protection method, characterized in that the vehicle safety protection method is performed by a vehicle safety protection system provided on a vehicle, the vehicle safety protection method comprising:
collecting environmental information around a vehicle;
the infrared sensor is used for detecting and collecting the temperature of a target around the vehicle by utilizing the difference of infrared characteristics of living organisms and other objects so as to distinguish the living organisms or the objects; the infrared sensor is an infrared thermal imager;
after the environmental information around the vehicle is collected, the method further comprises the following steps:
acquiring target information existing in the surrounding environment of the vehicle by utilizing a millimeter wave radar sensor to form a 2D reflection image;
Collecting point cloud data of the surrounding environment of the vehicle by using a laser radar sensor to form a 3D point cloud image;
acquiring video or image information of the surrounding environment of the vehicle by using a camera sensor;
fusing the acquired environmental information around the vehicle and the temperature of the target around the vehicle, determining the position information or behavior state of living bodies or objects around the vehicle, and making a control decision; filtering information outside a detection designated area acquired by a plurality of sensors, removing useless information or incorrect information, and fusing the filtered information;
the fusing the collected environmental information around the vehicle and the temperature of the target around the vehicle to determine the position information or behavior state of living bodies or objects around the vehicle, including:
projecting the 2D reflection image onto the 3D point cloud image, and determining the position information or behavior state of living organisms or objects around the vehicle according to the coincidence degree of the 2D reflection image projected onto the 3D point cloud image and the coincidence degree of the video or image information of the surrounding environment of the vehicle acquired by the camera sensor;
And controlling the vehicle to run and/or sending out warning information according to the control decision.
9. The vehicle safety protection method according to claim 8, wherein the fusing the collected environmental information around the vehicle and the temperature of the target around the vehicle, determining the position information or behavior state of living bodies or objects around the vehicle, and making a control decision further comprises:
collecting the temperature, wind speed, humidity, sound and light around the vehicle by using a temperature sensor, a wind speed sensor, a humidity sensor, a sound detector and a light detector;
and according to the temperature or wind speed around the vehicle, combining the 2D reflection image, the 3D point cloud image and the video or image information of the surrounding environment of the vehicle to perform information fusion, and determining the position information or the behavior state of living organisms or objects around the vehicle.
10. The vehicle safety protection method according to any one of claims 8 to 9, wherein the making of a control decision based on the positional information or behavior state of living organisms or objects around the vehicle includes:
when the vehicle enters or exits, if the boundary line of the living organism distance from the platform is smaller than or equal to a first preset value, making a control decision to control the train to stop or not start, and sending out voice prompt information through a broadcasting system to remind passengers of dangerous areas or sending out alarm information through an alarm; if the living organism distance from the platform boundary line is larger than the first preset value and smaller than the second preset value, making a control decision to control the vehicle to slow down or slowly travel, and sending out voice prompt information through the broadcasting system to remind passengers of paying attention to safety; if the distance between the living organism and the platform boundary line is greater than or equal to a second preset value, making the control decision to control the vehicle to normally run, wherein the first preset value is smaller than the second preset value;
In the running process of the vehicle, the living organism moves in the running direction of the vehicle or the behavior state of the living organism, if the distance between the living organism or the object and the vehicle is smaller than or equal to a third preset value, the control decision is made to control the vehicle to stop, and a voice prompt message is sent out through a broadcasting system or an alarm message is sent out through an alarm; if the distance between the living organism or object and the vehicle is larger than a third preset value and smaller than a fourth preset value, making a control decision to control the vehicle to decelerate, and sending out voice prompt information through the broadcasting system to remind passengers of paying attention to safety; and if the distance between the living organism or the object and the vehicle is greater than or equal to a fourth preset value, making the control decision to control the vehicle to normally run, wherein the third preset value is smaller than the fourth preset value.
11. The vehicle safety protection method of claim 8, wherein the vehicle safety protection system is a part or all of a vehicle unmanned system.
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| CN102756687A (en) * | 2011-04-27 | 2012-10-31 | 比亚迪股份有限公司 | Drive reminding system and method thereof |
| CN103192850A (en) * | 2013-04-22 | 2013-07-10 | 陈子康 | Integrated running train safety monitoring system |
| CN106908783B (en) * | 2017-02-23 | 2019-10-01 | 苏州大学 | Based on obstacle detection method combined of multi-sensor information |
| CN107015219A (en) * | 2017-03-27 | 2017-08-04 | 上海斐讯数据通信技术有限公司 | Collision-proof method and its system with radar imagery function |
| CN107807355A (en) * | 2017-10-18 | 2018-03-16 | 轩辕智驾科技（深圳）有限公司 | It is a kind of based on infrared and millimetre-wave radar technology vehicle obstacle-avoidance early warning system |
| CN207502722U (en) * | 2017-12-14 | 2018-06-15 | 北京汽车集团有限公司 | Vehicle and vehicle sensory perceptual system |
| CN110386154A (en) * | 2018-04-20 | 2019-10-29 | 比亚迪股份有限公司 | Platform security system and security method |
| CN109298415B (en) * | 2018-11-20 | 2020-09-22 | 中车株洲电力机车有限公司 | Method for detecting obstacles on track and road |
| CN209795326U (en) * | 2019-04-18 | 2019-12-17 | 东北师范大学人文学院 | Vehicle driving assisting system and vehicle |
| CN110239592A (en) * | 2019-07-03 | 2019-09-17 | 中铁轨道交通装备有限公司 | A kind of active barrier of rail vehicle and derailing detection system |
| CN110821330B (en) * | 2019-11-26 | 2021-03-12 | 交控科技股份有限公司 | Method and device for preventing people from being clamped between vehicle door and shielding door gap |
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