CN114360224A - Danger distinguishing and early warning system, method and device for automobile running red light - Google Patents
Danger distinguishing and early warning system, method and device for automobile running red light Download PDFInfo
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Abstract
The invention discloses a danger distinguishing and early warning system, method and device for a vehicle running red light, wherein an information data set is constructed by collecting first dynamic information of the vehicle, second dynamic information of pedestrians, third dynamic information of the vehicle running red light and fourth dynamic information of the pedestrians running red light at a traffic intersection; according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information and according to a situation perception theory, an accident prediction model is constructed and used for predicting traffic accident information at a traffic intersection; generating a danger alarm signal according to a prediction structure of the accident prediction model, and adjusting the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information to avoid traffic accidents; the invention detects the speed and direction of the vehicle and the distance between the vehicle and the pedestrian through the camera and the millimeter wave radar, and alarms the vehicle running the red light and the surrounding pedestrian when reaching the collision danger threshold value so as to ensure the safety of the surrounding vehicle and pedestrian.
Description
Technical Field
The invention belongs to the field of highway safety protection, and particularly relates to a danger distinguishing and early warning system, method and device for automobile red light running.
Background
The traffic signal lamp is important traffic directing equipment in daily traffic trips, so that traffic laws and regulations can be visually, specifically and concisely conveyed, the traffic signal lamp plays an important role in roads, and the traffic lights are used for standardizing the trips of automobiles in daily life. However, the phenomenon that the automobile runs the red light is rare, and the red light running of the automobile not only destroys the social order, but also deeply harms the surrounding people and the drivers. Traditional public security law enforcement just utilizes the camera to catch the information of vehicle making a dash across the red light, penalizes it afterwards. The processing mode does not solve the problem that the automobile hurts surrounding vehicles and people after running the red light.
All traffic accidents are fierce to tigers, along with the development of the economic society, the holding amount of private cars is more and more, so that the traffic management problem is increasingly prominent, various traffic accident information is also endless, and the road traffic safety becomes a problem that all people cannot avoid. Most of the traffic accident information is caused by one or both parties not complying with the road traffic safety law. The damage caused by the red light running of the vehicle is more serious, and according to investigation, the height of accident information caused by the red light running of the vehicle is 80 percent in a plurality of vehicle accident information. The number shows that the invention of the automobile red light running danger judging and early warning system is particularly important.
A published patent document (201410419768.2) proposes to use a high-definition panoramic camera and a detection belt setting device or the like to achieve detection of the vehicle speed. However, since there are relatively many vehicles and people at the intersection, the environment is relatively complex, the document only relates to the detection of vehicle speed by the detection belt device, but neglects the actual detection of the distance and direction of the vehicle, so as to ensure the comprehensiveness of the acquisition of the vehicle data. In addition, the requirement on the laying quantity of equipment such as the detection belt is more, the cost is higher, and the popularization and application range is smaller.
Therefore, a new technical scheme for detecting that the vehicle runs the red light is needed, the camera module is fused with the millimeter wave radar, the detection speed and the detection precision are improved, a situation perception theoretical framework is used for fusing a multi-sensor target detection method, the situation about to happen around is perceived, and the cost of the laying device is reduced.
Disclosure of Invention
According to the problems in the prior art, the invention aims to provide a system for judging and early warning the danger of red light running of an automobile, aiming at carrying out early warning reminding on the automobile and surrounding pedestrians after the automobile runs the red light, playing a role in protection and early warning and reducing the occurrence rate of traffic accident information.
In order to achieve the technical purpose, the invention provides a danger distinguishing and early warning system for an automobile running red light, which comprises a detection system, a computing system and an execution system, wherein the detection system comprises:
the detection system is used for acquiring first dynamic information of an automobile and second dynamic information of a pedestrian at a traffic intersection;
the computing system is used for acquiring third dynamic information of a vehicle running the red light and fourth dynamic information of a pedestrian running the red light based on a traffic signal lamp signal, the first dynamic information and the second dynamic information at the traffic intersection, predicting traffic accident information at the traffic intersection according to a situation perception theory and generating a decision signal according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information;
and the execution system is used for generating and sending a danger alarm signal according to the decision signal.
Preferably, the detection system comprises a camera module and a millimeter wave radar module;
the camera module is used for collecting automobile image information and pedestrian image information at a traffic intersection;
the millimeter wave radar module is used for acquiring first dynamic information, second dynamic information, third dynamic information and fourth dynamic information.
Preferably, the computing system comprises:
the first calculation module is used for acquiring a red light running vehicle and/or a red light running pedestrian according to the traffic signal lamp signal, the first dynamic information and the second dynamic information;
the second calculation module is used for predicting first accident information based on the vehicle running the red light according to the first dynamic information, the second dynamic information and the third dynamic information;
the third calculation module is used for predicting second accident information based on the pedestrians running the red light according to the first dynamic information, the second dynamic information and the fourth dynamic information;
the fourth calculation module is used for predicting third accident information based on the red light running automobile and the red light running pedestrian according to the third dynamic information and the fourth dynamic information;
and the fifth calculation module is used for predicting fourth accident information based on the automobile, the pedestrian, the automobile running the red light and the pedestrian running the red light according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information.
Preferably, the computing system further comprises:
a decision module for generating a first decision signal according to the first accident information, the second accident information, the third accident information and the fourth accident information,
or generating a second decision signal according to the first accident information, the second accident information and the third accident information,
or generating a third decision signal according to the first accident information, the second accident information and the fourth accident information.
Or generating a fourth decision signal according to the first accident information and the fourth accident information;
or generating a fifth decision signal according to the second accident information and the fourth accident information;
or generating a sixth decision signal according to the third accident information and the fourth accident information;
or generating a seventh decision signal according to the third accident information;
or generating an eighth decision signal according to the fourth accident information.
Preferably, the execution system is further configured to:
generating a first danger alarm signal for simultaneously warning the red light running automobile and the red light running pedestrian according to at least two decision signals of the second decision signal, the sixth decision signal and the seventh decision signal;
or generating a second danger alarm signal for warning the first automobile and the pedestrians according to the first decision signal and/or the eighth decision signal and the third decision signal, wherein the pedestrians comprise the pedestrians running the red light, and the first automobile does not comprise the automobile running the red light;
or generating a third danger alarm signal for warning the automobile running the red light according to the fourth decision signal;
or generating a fourth danger alarm signal for warning the pedestrian running the red light according to the fifth decision signal;
or, generating a fifth hazard warning signal for warning the first car based on the third decision signal.
A danger distinguishing and early warning method for automobile running red light comprises the following steps:
collecting first dynamic information of automobiles, second dynamic information of pedestrians, third dynamic information of red-light running automobiles and fourth dynamic information of red-light running pedestrians at a traffic intersection to construct an information data set;
according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information and according to a situation perception theory, an accident prediction model is constructed and used for predicting traffic accident information at a traffic intersection;
and generating a danger alarm signal according to the prediction structure of the accident prediction model, and adjusting the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information to avoid the occurrence of traffic accidents.
Preferably, in the process of constructing the information data set, the information data set comprises speed data and position data of the measured targets, wherein the position data comprises first distance data between the measured targets and second distance data from the measured targets to the signal acquisition device;
wherein the expression for the velocity data is:
the expression for the second distance data is:
wherein c represents the light propagation speed, T represents the sweep frequency period, f represents the center frequency of the millimeter wave radar sweep signal, fb-Means that the echo signal is Doppler shifted according to the Doppler effect, the rising edge of the generated triangular wave is the intermediate frequency, fb+Indicating the rising edge intermediate frequency of the triangular wave.
Preferably, in the process of constructing the accident prediction model, the following steps are included:
according to the first dynamic information, the second dynamic information and the third dynamic information, a first prediction model for predicting first accident information based on the vehicle running the red light is constructed;
according to the first dynamic information, the second dynamic information and the fourth dynamic information, a second prediction model for predicting second accident information based on the pedestrians running the red light is constructed;
according to the third dynamic information and the fourth dynamic information, a third prediction model for predicting third accident information based on the red light running automobile and the red light running pedestrian is constructed;
according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information, a fourth prediction model for predicting fourth accident information based on automobiles, pedestrians, red light running automobiles and red light running pedestrians is constructed;
and constructing an accident prediction model according to the first prediction model, the second prediction model, the third prediction model and the fourth prediction model.
Preferably, in the process of generating the danger warning signal, the following steps are further included:
generating a first decision signal according to the first accident information, the second accident information, the third accident information and the fourth accident information,
generating a second decision signal according to the first accident information, the second accident information and the third accident information,
and generating a third decision signal according to the first accident information, the second accident information and the fourth accident information.
Generating a fourth decision signal according to the first accident information and the fourth accident information;
generating a fifth decision signal according to the second accident information and the fourth accident information;
generating a sixth decision signal according to the third accident information and the fourth accident information;
generating a seventh decision signal according to the third accident information;
generating an eighth decision signal according to the fourth accident information;
generating a first danger alarm signal for simultaneously warning the red light running automobile and the red light running pedestrian according to at least two decision signals of the second decision signal, the sixth decision signal and the seventh decision signal;
generating a second danger alarm signal for warning the first automobile and the pedestrians according to the first decision signal and/or the eighth decision signal and the third decision signal, wherein the pedestrians comprise the pedestrians running the red light, and the first automobile does not comprise the automobile running the red light;
generating a third danger alarm signal for warning the automobile running the red light according to the fourth decision signal;
generating a fourth danger alarm signal for warning the pedestrian running the red light according to the fifth decision signal;
and generating a fifth danger alarm signal for warning the first automobile according to the third decision signal.
A danger discrimination early warning device for automobile running red light, includes:
the camera is used for collecting intersection images at the traffic intersection;
the millimeter wave radar is used for acquiring the dynamic information of the automobile and the pedestrian;
the central control module is used for distinguishing automobiles and pedestrians according to the intersection image, controlling the millimeter wave radar, acquiring dynamic information, acquiring the dynamic information of the automobile running the red light and the pedestrian running the red light according to the dynamic information, and acquiring a danger alarm signal according to a danger distinguishing and early warning method;
the early warning device is used for sending out a warning in a preset early warning mode according to the danger warning signal;
and the power supply is used for supplying power to the danger judging and early warning device.
The invention discloses the following technical effects:
the invention detects the speed and direction of the vehicle and the distance between the vehicle and the pedestrian through the camera and the millimeter wave radar in the detection system, and alarms the vehicle running the red light and the surrounding pedestrian when reaching the collision danger threshold value so as to ensure the safety of the surrounding vehicle and pedestrian.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic overall structure of an embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall effect of an embodiment of the present invention;
FIG. 3 is a block diagram of a system for discriminating and warning the danger of red light running of an automobile according to an embodiment of the present invention
In the figure: 1. a high-definition camera; 2. a millimeter wave radar; 3. a traffic light rail; 4. an alarm device; 5. a pedestrian; 6. traffic lights.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1-3, the present invention provides a danger distinguishing and early warning system for automobile running red light, which comprises a detection system, a computing system and an execution system:
the detection system is used for acquiring first dynamic information of an automobile and second dynamic information of a pedestrian at a traffic intersection;
the computing system is used for acquiring third dynamic information of a vehicle running the red light and fourth dynamic information of a pedestrian running the red light based on a traffic signal lamp signal, the first dynamic information and the second dynamic information at the traffic intersection, predicting traffic accident information at the traffic intersection according to a situation perception theory and generating a decision signal according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information;
and the execution system is used for generating and sending a danger alarm signal according to the decision signal.
Further preferably, the detection system comprises a camera module and a millimeter wave radar module;
the camera module is used for collecting automobile image information and pedestrian image information at a traffic intersection;
the millimeter wave radar module is used for acquiring first dynamic information, second dynamic information, third dynamic information and fourth dynamic information.
Further preferably, the computing system comprises:
the first calculation module is used for acquiring a red light running vehicle and/or a red light running pedestrian according to the traffic signal lamp signal, the first dynamic information and the second dynamic information;
the second calculation module is used for predicting first accident information based on the vehicle running the red light according to the first dynamic information, the second dynamic information and the third dynamic information;
the third calculation module is used for predicting second accident information based on the pedestrians running the red light according to the first dynamic information, the second dynamic information and the fourth dynamic information;
the fourth calculation module is used for predicting third accident information based on the red light running automobile and the red light running pedestrian according to the third dynamic information and the fourth dynamic information;
and the fifth calculation module is used for predicting fourth accident information based on the automobile, the pedestrian, the automobile running the red light and the pedestrian running the red light according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information.
Further preferably, the computing system further comprises:
a decision module for generating a first decision signal according to the first accident information, the second accident information, the third accident information and the fourth accident information,
or generating a second decision signal according to the first accident information, the second accident information and the third accident information,
or generating a third decision signal according to the first accident information, the second accident information and the fourth accident information.
Or generating a fourth decision signal according to the first accident information and the fourth accident information;
or generating a fifth decision signal according to the second accident information and the fourth accident information;
or generating a sixth decision signal according to the third accident information and the fourth accident information;
or generating a seventh decision signal according to the third accident information;
or generating an eighth decision signal according to the fourth accident information.
Further preferably, the execution system is further configured to:
generating a first danger alarm signal for simultaneously warning the red light running automobile and the red light running pedestrian according to at least two decision signals of the second decision signal, the sixth decision signal and the seventh decision signal;
or generating a second danger alarm signal for warning the first automobile and the pedestrians according to the first decision signal and/or the eighth decision signal and the third decision signal, wherein the pedestrians comprise the pedestrians running the red light, and the first automobile does not comprise the automobile running the red light;
or generating a third danger alarm signal for warning the automobile running the red light according to the fourth decision signal;
or generating a fourth danger alarm signal for warning the pedestrian running the red light according to the fifth decision signal;
or, generating a fifth hazard warning signal for warning the first car based on the third decision signal.
A danger distinguishing and early warning method for automobile running red light comprises the following steps:
collecting first dynamic information of automobiles, second dynamic information of pedestrians, third dynamic information of red-light running automobiles and fourth dynamic information of red-light running pedestrians at a traffic intersection to construct an information data set;
according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information and according to a situation perception theory, an accident prediction model is constructed and used for predicting traffic accident information at a traffic intersection;
and generating a danger alarm signal according to the prediction structure of the accident prediction model, and adjusting the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information to avoid the occurrence of traffic accidents.
Further preferably, in the process of constructing the information data set, the information data set comprises speed data and position data of the measured targets, wherein the position data comprises first distance data between the measured targets and second distance data from the measured targets to the signal acquisition device;
wherein the expression for the velocity data is:
the expression for the second distance data is:
wherein c represents the light propagation speed, T represents the sweep frequency period, f represents the center frequency of the millimeter wave radar sweep signal, fb-Means that the echo signal is Doppler shifted according to the Doppler effect, the rising edge of the generated triangular wave is the intermediate frequency, fb+Indicating the rising edge intermediate frequency of the triangular wave.
Further preferably, in the process of constructing the accident prediction model, the following steps are included:
according to the first dynamic information, the second dynamic information and the third dynamic information, a first prediction model for predicting first accident information based on the vehicle running the red light is constructed; according to the first dynamic information, the second dynamic information and the fourth dynamic information, a second prediction model for predicting second accident information based on the pedestrians running the red light is constructed;
according to the third dynamic information and the fourth dynamic information, a third prediction model for predicting third accident information based on the red light running automobile and the red light running pedestrian is constructed;
according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information, a fourth prediction model for predicting fourth accident information based on automobiles, pedestrians, red light running automobiles and red light running pedestrians is constructed;
and constructing an accident prediction model according to the first prediction model, the second prediction model, the third prediction model and the fourth prediction model.
Further preferably, in the process of generating the danger warning signal, the following steps are also included:
generating a first decision signal according to the first accident information, the second accident information, the third accident information and the fourth accident information,
generating a second decision signal according to the first accident information, the second accident information and the third accident information,
and generating a third decision signal according to the first accident information, the second accident information and the fourth accident information.
Generating a fourth decision signal according to the first accident information and the fourth accident information;
generating a fifth decision signal according to the second accident information and the fourth accident information;
generating a sixth decision signal according to the third accident information and the fourth accident information;
generating a seventh decision signal according to the third accident information;
generating an eighth decision signal according to the fourth accident information;
generating a first danger alarm signal for simultaneously warning the red light running automobile and the red light running pedestrian according to at least two decision signals of the second decision signal, the sixth decision signal and the seventh decision signal;
generating a second danger alarm signal for warning the first automobile and the pedestrians according to the first decision signal and/or the eighth decision signal and the third decision signal, wherein the pedestrians comprise the pedestrians running the red light, and the first automobile does not comprise the automobile running the red light;
generating a third danger alarm signal for warning the automobile running the red light according to the fourth decision signal;
generating a fourth danger alarm signal for warning the pedestrian running the red light according to the fifth decision signal;
and generating a fifth danger alarm signal for warning the first automobile according to the third decision signal.
Furthermore, the method provided by the invention is characterized in that when only a red light running automobile exists at a road junction, the red light running automobile is measured, the possible danger relation among the red light running automobile, other automobiles and pedestrians is calculated, when the speed of the red light running automobile is far higher than that of the other automobiles and pedestrians, the accident caused by premature intervention is avoided, the behavior is not interfered, when the driving direction of the red light running automobile and the speed of the other automobiles and pedestrians at a certain position are crossed, the possible overspeed behavior of the other automobiles and the acceleration behavior of the pedestrians are reminded, and the red light running automobile is guided to exit the area as a final target;
when only red light running pedestrians exist at the intersection, the red light running pedestrians are directly warned, and are prohibited from running into a vehicle or other pedestrian running channels, accidents of vehicle collision, vehicle collision and people collision are avoided, and meanwhile vehicles which possibly exist in an accident site and are about to arrive are reminded not to exceed 10km/h, so that accidents are avoided;
when vehicles running red light and pedestrians running red light exist at the intersection, the highest probability of accidents between the vehicles running red light and the pedestrians running red light is considered, the relation between the vehicles running red light and the pedestrians running red light and the relation between other vehicles and the pedestrians are considered, other vehicles and the pedestrians are reminded of controlling the speed, and under the premise that the direct accidents between the vehicles running red light and the pedestrians running red light are avoided, the vehicles running red light are released to prevent the pedestrians running red light, or the vehicles running red light and the pedestrians running red light are released, or the vehicles running red light are prevented from being released to prevent the pedestrians running red light, or the vehicles running red light and the pedestrians running red light are prevented; according to the specific control strategy, probability measurement is carried out through a situation perception theoretical framework according to the dynamic state information of the red light running target and the dynamic state information of other targets, and finally an early warning and control scheme for avoiding traffic accidents is generated.
A danger discrimination early warning device for automobile running red light, includes:
the camera is used for collecting intersection images at the traffic intersection;
the millimeter wave radar is used for acquiring the dynamic information of the automobile and the pedestrian;
the central control module is used for distinguishing automobiles and pedestrians according to the intersection image, controlling the millimeter wave radar, acquiring dynamic information, acquiring the dynamic information of the automobile running the red light and the pedestrian running the red light according to the dynamic information, and acquiring a danger alarm signal according to a danger distinguishing and early warning method;
the early warning device is used for sending out a warning in a preset early warning mode according to the danger warning signal;
and the power supply is used for supplying power to the danger judging and early warning device.
The invention also provides a computer program which is arranged in the operable system structure and used for realizing the danger judgment early warning method.
Example 1: the invention provides the following technical scheme: the invention provides a system for judging and early warning the danger of red light running of an automobile, which comprises a detection system, a computing system and an execution system, wherein,
the high-definition camera 1, the millimeter wave radar 2 and the alarm device 4 are fixed on the traffic light cross bar 3,
the detection system comprises: identifying and collecting dynamic information of vehicles coming and going through the installed camera module and the millimeter wave radar;
a computing system: the collected data of the camera module and the data of the millimeter wave radar are fused, including speed, distance, direction and the like, and compared with a collision danger threshold, a situation perception theoretical framework is used for fusing the target detection method of the multiple sensors, the situation of the periphery to be happened is perceived, and the result is transmitted to a decision center.
The execution system: after the comparison result is obtained, the switch is controlled to send out a danger alarm signal through the relay module;
the invention also discloses a method for judging and early warning the danger of the automobile running the red light, which comprises the following steps:
the method comprises the following steps: the method comprises the steps that a camera module and a millimeter wave radar are used for identifying automobiles and pedestrians in a coming and going mode, namely, high-definition cameras are used for shooting surrounding automobiles and pedestrians, targets are classified by combining a YOLOv5 algorithm or other target detection algorithms, and then the millimeter wave radar is used for collecting dynamic information of the automobiles, namely the speed, the distance and the direction of the automobiles; the method comprises the following specific steps:
because the camera has the advantages of visual picture, mature technology and the like, but the camera is sensitive to the surrounding environment and is easily influenced by the weather, and researches show that the millimeter wave radar has good environmental adaptability, high range resolution and low price, so that the camera and the millimeter wave radar are fused together through algorithm fusion, and the monitoring can be more visually and effectively carried out. The camera detects surrounding target objects through the characteristics of the camera and a target detection algorithm. The millimeter wave radar detects surrounding objects by transmitting and receiving signals.
Step two: the collected data of the camera modules and the data of the millimeter wave radar are fused to obtain the distances between pedestrians and vehicles in the surrounding directions, whether collision occurs or not and comparison with collision danger thresholds are judged according to the motion tracks of the vehicles and the pedestrians in all directions, and the results are transmitted to a decision center; the method comprises the following specific steps:
because the camera gathers the characteristic data of surrounding vehicle and pedestrian, it plays the effect of target identification, and millimeter wave radar sends pulse signal through the transmitter, and the receiver receives the signal again, according to equation 1:
the time difference Δ t between the echo signal and the transmitted signal can be calculated, d is the distance of the target object from the millimeter wave radar, and c is the light propagation speed. Since the echo signal and the transmitted signal have the same shape, equation 2 is obtained according to the triangle similarity principle:
wherein, T is the sweep frequency period, Δ F is the modulation signal bandwidth, and then the distance of the detection target is obtained by substituting formula 1 as follows:
according to the Doppler effect, the echo signal generates Doppler frequency shift, and after mixing, the intermediate frequency of the rising edge and the falling edge of the triangular wave are respectively recorded as fb+And fb-Then, we obtain the doppler shift formula 3:
wherein f is0For transmitting the central frequency of the signal, the speed and the distance of the measured target are obtained
According to investigation, the pedestrian can be slightly injured when being impacted at the speed of 10 km/h; when the speed reaches 30km/h, although the light injury accounts for most of the time, the death condition also occurs; the death rate accounts for about 10% in three different regions of 40, 50 and 60km/h, and the severe injury rate is increased continuously; when the speed reaches more than 70km/h, the death rate is increased to 98 percent; when the speed per hour exceeds 100km/h, the death rate reaches 100 percent. Therefore, here the collision threshold is set at 10km/h at the calculation center. It is emphasized here that suitable millimeter wave radars are selected according to actual conditions, and frequency modulation continuous wave type millimeter wave radars are generally selected because of the advantages of simple structure, low cost, high close-range detection resolution and the like. And finally, fusing the target detection methods of the multiple sensors by using a situation perception theory framework, and perceiving and predicting the possible surrounding situations.
Step three: and the decision center executes the decision result through the relay module, and when the speed of the vehicle running the red light exceeds the set collision threshold value and is 10km/h, surrounding pedestrians and vehicles can be damaged, a high-definition camera photographing program and an alarm device are triggered, the vehicles running the red light and the surrounding pedestrians are reminded, and emergency danger avoidance is made.
The invention detects the speed and direction of the vehicle and the distance between the vehicle and the pedestrian through the detection system, sends alarm prompt to the vehicle running the red light when reaching the collision danger threshold value, and simultaneously prompts the surrounding vehicles and the pedestrian so as to carry out emergency avoidance by adopting a proper method, thereby reducing the information occurrence rate of collision accidents.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. The utility model provides a dangerous judgement early warning system for car runs red light which characterized in that, includes detecting system, computing system, actuating system:
the detection system is used for acquiring first dynamic information of automobiles and second dynamic information of pedestrians at a traffic intersection;
the computing system is used for acquiring third dynamic information of a vehicle running the red light and fourth dynamic information of a pedestrian running the red light based on the traffic signal lamp signal, the first dynamic information and the second dynamic information at the traffic intersection, predicting traffic accident information at the traffic intersection according to a situation perception theory and generating a decision signal according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information;
and the execution system is used for generating and sending a danger alarm signal according to the decision signal.
2. The danger distinguishing and early warning system for the automobile running the red light according to claim 1, characterized in that:
the detection system comprises a camera module and a millimeter wave radar module;
the camera module is used for collecting automobile image information and pedestrian image information at the traffic intersection;
the millimeter wave radar module is used for acquiring the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information.
3. The danger distinguishing and early warning system for the automobile running the red light according to claim 2, characterized in that:
the computing system, comprising:
the first computing module is used for acquiring the red light running vehicle and/or the red light running pedestrian according to the traffic signal lamp signal, the first dynamic information and the second dynamic information;
the second calculation module is used for predicting first accident information based on the red light running vehicle according to the first dynamic information, the second dynamic information and the third dynamic information;
the third calculation module is used for predicting second accident information based on the pedestrian running the red light according to the first dynamic information, the second dynamic information and the fourth dynamic information;
the fourth calculation module is used for predicting third accident information based on the red light running automobile and the red light running pedestrian according to the third dynamic information and the fourth dynamic information;
and the fifth calculation module is used for predicting fourth accident information based on the automobile, the pedestrian, the automobile running the red light and the pedestrian running the red light according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information.
4. The danger distinguishing and early warning system for the automobile running the red light according to claim 3, characterized in that:
the computing system, further comprising:
a decision module for generating a first decision signal according to the first accident information, the second accident information, the third accident information and the fourth accident information,
or generating a second decision signal according to the first accident information, the second accident information and the third accident information,
or generating a third decision signal according to the first accident information, the second accident information and the fourth accident information.
Or generating a fourth decision signal according to the first accident information and the fourth accident information;
or generating a fifth decision signal according to the second accident information and the fourth accident information;
or generating a sixth decision signal according to the third accident information and the fourth accident information;
or generating a seventh decision signal according to the third accident information;
or generating an eighth decision signal according to the fourth accident information.
5. The danger distinguishing and early warning system for the automobile running the red light according to claim 4, characterized in that:
the execution system is further configured to:
generating a first danger alarm signal for simultaneously warning the red light running automobile and the red light running pedestrian according to at least two decision signals of the second decision signal, the sixth decision signal and the seventh decision signal;
or generating a second danger alarm signal for warning a first automobile and the pedestrian according to the first decision signal and/or the eighth decision signal and the third decision signal, wherein the pedestrian comprises the pedestrian running the red light, and the first automobile does not comprise the automobile running the red light;
or generating a third danger alarm signal for warning the red light running automobile according to the fourth decision signal;
or generating a fourth danger alarm signal for warning the pedestrian running the red light according to the fifth decision signal;
or generating a fifth hazard warning signal for warning the first automobile according to the third decision signal.
6. A danger distinguishing and early warning method for automobile running red light is characterized by comprising the following steps:
collecting first dynamic information of automobiles, second dynamic information of pedestrians, third dynamic information of red-light running automobiles and fourth dynamic information of red-light running pedestrians at a traffic intersection to construct an information data set;
according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information and according to a situation perception theory, an accident prediction model is constructed and used for predicting traffic accident information at the traffic intersection;
and generating a danger alarm signal according to the prediction structure of the accident prediction model, and adjusting the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information to avoid traffic accidents.
7. The danger distinguishing and early warning method for the automobile running the red light according to claim 6, characterized in that:
in the process of constructing an information data set, the information data set comprises speed data and position data of a measured target, wherein the position data comprises first distance data between the measured targets and second distance data between the measured targets and a signal acquisition device;
wherein the expression for the speed data is:
the expression of the second distance data is:
wherein c represents the light propagation speed, T represents the sweep frequency period, f represents the center frequency of the millimeter wave radar sweep signal, fb-Means that the echo signal is Doppler shifted according to the Doppler effect, the rising edge of the generated triangular wave is the intermediate frequency, fb+Representing the mid-frequency of the rising edge of the triangular wave.
8. The danger distinguishing and early warning method for the automobile running the red light according to claim 7, characterized in that:
in the process of constructing the accident prediction model, the method comprises the following steps:
according to the first dynamic information, the second dynamic information and the third dynamic information, a first prediction model for predicting first accident information based on the red light running vehicle is constructed;
according to the first dynamic information, the second dynamic information and the fourth dynamic information, a second prediction model for predicting second accident information based on the pedestrian running the red light is constructed;
according to the third dynamic information and the fourth dynamic information, a third prediction model for predicting third accident information based on the red light running automobile and the red light running pedestrian is built;
according to the first dynamic information, the second dynamic information, the third dynamic information and the fourth dynamic information, constructing a fourth prediction model for predicting fourth accident information based on the automobile, the pedestrian, the red light running automobile and the red light running pedestrian;
and constructing the accident prediction model according to the first prediction model, the second prediction model, the third prediction model and the fourth prediction model.
9. The danger distinguishing and early warning method for the automobile running the red light according to claim 8, characterized in that:
in the process of generating the danger warning signal, the method further comprises the following steps:
generating a first decision signal based on the first accident information, the second accident information, the third accident information, and the fourth accident information,
generating a second decision signal based on the first incident information, the second incident information, and the third incident information,
and generating a third decision signal according to the first accident information, the second accident information and the fourth accident information.
Generating a fourth decision signal according to the first accident information and the fourth accident information;
generating a fifth decision signal according to the second accident information and the fourth accident information;
generating a sixth decision signal according to the third accident information and the fourth accident information;
generating a seventh decision signal according to the third accident information;
generating an eighth decision signal according to the fourth accident information;
generating a first danger alarm signal for simultaneously warning the red light running automobile and the red light running pedestrian according to at least two decision signals of the second decision signal, the sixth decision signal and the seventh decision signal;
generating a second danger alarm signal for warning a first automobile and the pedestrian according to the first decision signal and/or the eighth decision signal and the third decision signal, wherein the pedestrian comprises the pedestrian running the red light, and the first automobile does not comprise the automobile running the red light;
generating a third danger alarm signal for warning the red light running automobile according to the fourth decision signal;
generating a fourth danger alarm signal for warning the pedestrian running the red light according to the fifth decision signal;
generating a fifth hazard warning signal for warning the first car based on the third decision signal.
10. The utility model provides a dangerous early warning device that differentiates for car runs red light which characterized in that includes:
the camera is used for collecting intersection images at the traffic intersection;
the millimeter wave radar is used for acquiring the dynamic information of the automobile and the pedestrian;
the central control module is used for distinguishing the automobile from the pedestrian according to the intersection image, controlling the millimeter wave radar, acquiring the dynamic information of the automobile running the red light and the pedestrian running the red light according to the dynamic information, and acquiring a danger alarm signal according to the danger distinguishing and early warning method for the automobile running the red light as claimed in any one of claims 6 to 9;
the early warning device is used for sending out a warning in a preset early warning mode according to the danger warning signal;
and the power supply is used for supplying power to the danger judging and early warning device.
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