CN114419927A - Pedestrian speed control method and system for pedestrian test - Google Patents
Pedestrian speed control method and system for pedestrian test Download PDFInfo
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- CN114419927A CN114419927A CN202210090442.4A CN202210090442A CN114419927A CN 114419927 A CN114419927 A CN 114419927A CN 202210090442 A CN202210090442 A CN 202210090442A CN 114419927 A CN114419927 A CN 114419927A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Abstract
The invention provides a pedestrian speed control method and system for a pedestrian test, which are used for obtaining the speed of a vehicle, the longitudinal distance from a collision point and the obtaining time; calculating the longitudinal distance between the vehicle and the pedestrian, calculating the time of the vehicle reaching the collision point according to the distance and the speed, and judging whether the time is the same as the time of the pedestrian reaching the collision point; if the time reaching the collision point is the same, driving the pedestrian to transversely move and driving to the collision point; and in the whole transverse movement process of the pedestrian, calculating the time of the vehicle reaching the collision point according to the change of the speed of the vehicle, and further adjusting the speed of the pedestrian to enable the time error of the pedestrian and the vehicle reaching the collision point to be within a preset range. The invention can calculate the speed of the pedestrian in the constant-speed driving stage according to the speed of the vehicle, and adjust the speed in real time according to the requirement, thereby meeting the test requirement and improving the accuracy of test data.
Description
Technical Field
The invention relates to the technical field of vehicle emergency braking pedestrian tests, in particular to a pedestrian speed control method and system for a pedestrian test.
Background
In the prior art, the AEB-P (automatic emergency braking for pedestrians) function is required to be realized on qualified commercial vehicles and on vehicles with high requirements on safety. At the beginning of the AEB-P function, a corresponding dummy is needed for experimental testing.
The automatic emergency braking pedestrian test is that a vehicle longitudinally runs along a road, pedestrians transversely pass through the road, and whether the vehicle can avoid colliding with the pedestrians is tested. Therefore, the two collision points need to be set on the road in advance, and the collision points refer to: if the vehicle is driven to the collision point longitudinally, but no automatic emergency braking or manual intervention braking occurs in the whole process, the pedestrian crossing the road collides at a certain speed and the vehicle width middle point position of the foremost end of the vehicle, so in order to improve the effectiveness of the test, the speed of the pedestrian needs to be designed to reach the collision point according to the requirements of the automatic emergency braking. If the time for the pedestrian to reach the collision point is advanced or delayed, the test is easy to be invalid, and the test efficiency is reduced.
Disclosure of Invention
The invention aims to improve the accuracy of a pedestrian reaching a collision point, and provides a speed real-time control method for automatically and emergently braking the pedestrian based on the real-time speed of a vehicle. The invention can calculate the speed of the pedestrian in the constant-speed driving stage according to the speed of the vehicle, and adjust the speed in real time according to the requirement, thereby meeting the test requirement and improving the accuracy of test data.
The method comprises the following steps:
the method comprises the following steps: acquiring the speed of a vehicle, the longitudinal distance from a collision point and the acquisition time;
step two: calculating the longitudinal distance between the vehicle and the pedestrian, calculating the time of the vehicle reaching the collision point according to the distance and the speed, and judging whether the time is the same as the time of the pedestrian reaching the collision point;
step three: if the time reaching the collision point is the same, driving the pedestrian to transversely move and driving to the collision point;
step four: and in the whole transverse movement process of the pedestrian, calculating the time of the vehicle reaching the collision point according to the change of the speed of the vehicle, and further adjusting the speed of the pedestrian to enable the time error of the pedestrian and the vehicle reaching the collision point to be within a preset range.
It should be further noted that the time when the vehicle reaches the collision point is calculated according to the following formula:
wherein the content of the first and second substances,
tvehrefers to the time at which the vehicle reaches the point of impact;
Lvehrefers to the longitudinal distance of the vehicle to the point of impact;
vvehrefers to the longitudinal distance of the vehicle to the collision point.
It is further noted that, in the method, the time for accelerating the pedestrian is calculated as follows:
the time when the pedestrian reaches the collision point is the same as the time when the vehicle reaches the collision point, and the speed v of the vehiclevehThe distance from the starting point to the collision point of the pedestrian is X meters in total, wherein the front X1 meters is the acceleration V of the pedestrian1Distance of m/s, the rear X2 m is the pedestrian at V1The distance of the speed and the acceleration time of the pedestrian are adjusted in real time on the basis of the uniform speed of m/s, and the calculation is as follows:
ata＝V1
X＝X1+X2
wherein a denotes the acceleration of the pedestrian, taRefers to the acceleration time of the pedestrian.
Further, in the method, the pedestrian adjusts the running time of the vehicle speed, and the calculation is as follows:
wherein, tyTime of speed regulation, v, for pedestrianspedRefers to the real-time speed of the pedestrian.
Time t for vehicle to reach collision pointvehThe calculation method is as follows:
tveh＝ta+ty。
it should be further noted that the front X1 m is an acceleration stage, the rear X2 m is a uniform speed transverse advance stage, and the total time of the whole process is calculated as follows:
wherein, tstMeans that the pedestrian starts to move and accelerate to V1m/s, and then the time of reaching the collision point at a constant speed; when t isveh＝tstWhen the pedestrian starts moving laterally from rest.
Real-time speed v of pedestrianpedThe calculation is as follows:
wherein L ispedThe distance between the pedestrian and the collision point is calculated by the pedestrian whole-course speed regulation control module when the pedestrian runs at a constant speed.
The invention also provides a pedestrian speed control system for a pedestrian test, the system comprising:
the pedestrian speed regulation control module, the vehicle-mounted GPS signal sending module, the pedestrian equipment GPS signal receiving module and the pedestrian mobile motor control module;
the pedestrian speed regulation control module and the pedestrian equipment GPS signal receiving module are respectively connected with the pedestrian movement trigger motor control module;
the vehicle-mounted GPS signal sending module is connected with the pedestrian equipment GPS signal receiving module through a wireless signal;
the vehicle-mounted GPS signal sending module is used for acquiring the speed of a vehicle, the longitudinal distance from a collision point and the acquisition time and sending the speed, the longitudinal distance from the collision point and the acquisition time to the pedestrian equipment GPS signal receiving module;
the pedestrian equipment GPS signal receiving module receives the vehicle speed, the vehicle position and the acquisition time sent by the vehicle-mounted GPS signal sending module and transmits the received data to the pedestrian whole-course speed adjusting control module;
the pedestrian speed regulation control module calculates the longitudinal distance between the vehicle and the pedestrian, calculates the time of the vehicle reaching the collision point according to the distance and the speed, and judges whether the time is the same as the time of the pedestrian reaching the collision point;
if the time for reaching the collision point is the same, the pedestrian moving motor control module drives the pedestrian to transversely move to drive to the collision point;
in the whole transverse movement process of the pedestrian, the pedestrian speed adjusting control module calculates the time change of the vehicle reaching the collision point according to the speed change of the vehicle, and then adjusts the speed of the pedestrian, so that the time error of the pedestrian and the vehicle reaching the collision point is within a preset range.
According to the technical scheme, the invention has the following advantages:
the pedestrian speed control method and system for the pedestrian test can calculate the time change of the vehicle reaching the collision point according to the speed change of the vehicle in the whole transverse moving process of the pedestrian, and further adjust the speed of the pedestrian, so that the time error of the pedestrian and the vehicle reaching the collision point is in the preset range. The invention can calculate the speed of the pedestrian in the constant-speed driving stage according to the speed of the vehicle, and adjust the speed in real time according to the requirement, thereby meeting the test requirement and improving the accuracy of test data.
The method and the system can meet the requirements of regulations, also meet the requirements of tests on commercial vehicles, and can carry out test control on vehicles with higher safety requirements.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, 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 that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an embodiment of a pedestrian speed control method for a pedestrian test;
FIG. 2 is a schematic diagram of a pedestrian speed control system for a pedestrian test;
FIG. 3 is a flow chart of a pedestrian speed control method for a pedestrian test.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The elements and algorithm steps of the various examples described in the embodiments disclosed in the pedestrian speed control method and system for pedestrian testing provided by the present invention can be implemented in electronic hardware, computer software, or a combination of both, and in the foregoing description the components and steps of the various examples have been generally described in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The block diagram shown in the figure of the pedestrian speed control method and system for pedestrian test provided by the invention is only a functional entity, and does not necessarily correspond to a physically independent entity. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
In the pedestrian speed control method and system for pedestrian testing provided by the invention, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations or operations have not been shown or described in detail to avoid obscuring aspects of the invention.
The present invention provides a pedestrian speed control system for pedestrian testing, as shown in fig. 2, the system comprising: the pedestrian speed regulation control module 1, the vehicle-mounted GPS signal sending module 2, the pedestrian equipment GPS signal receiving module 3 and the pedestrian mobile motor control module 4;
the pedestrian speed regulation control module 1 and the pedestrian equipment GPS signal receiving module 3 are respectively connected with the pedestrian moving contact generator control module 4;
the vehicle-mounted GPS signal sending module 2 is connected with the pedestrian equipment GPS signal receiving module 3 through a wireless signal;
the vehicle-mounted GPS signal sending module 2 is used for obtaining the speed of a vehicle, the longitudinal distance from a collision point and the obtaining time and sending the speed, the longitudinal distance from the collision point and the obtaining time to the pedestrian equipment GPS signal receiving module 3;
the pedestrian equipment GPS signal receiving module 3 receives the vehicle speed, the vehicle position and the acquisition time sent by the vehicle-mounted GPS signal sending module 2 and transmits the received data to the pedestrian whole-course speed adjusting control module 1;
the pedestrian speed regulation control module 1 calculates the longitudinal distance between the vehicle and the pedestrian, calculates the time of the vehicle reaching the collision point according to the distance and the speed, and judges whether the time is the same as the time of the pedestrian reaching the collision point;
if the time for reaching the collision point is the same, the pedestrian moving motor control module 4 drives the pedestrian to transversely move to drive to the collision point;
in the whole transverse moving process of the pedestrian, the pedestrian speed adjusting control module 1 calculates the time change of the vehicle reaching the collision point according to the speed change of the vehicle, and then adjusts the speed of the pedestrian, so that the time error of the pedestrian and the vehicle reaching the collision point is in a preset range.
The invention can calculate the speed of the pedestrian in the constant-speed driving stage according to the speed of the vehicle, and adjust the speed in real time according to the requirement, thereby meeting the test requirement and improving the accuracy of test data. Meanwhile, the vehicle safety test system can meet the requirements of regulations, also accords with the test on commercial vehicles, and can perform test control on vehicles with higher safety requirements.
Based on the above system, as shown in fig. 3, the pedestrian speed control method for pedestrian test provided by the invention comprises the following steps:
s101: acquiring the speed of a vehicle, the longitudinal distance from a collision point and the acquisition time;
s102: calculating the longitudinal distance between the vehicle and the pedestrian, calculating the time of the vehicle reaching the collision point according to the distance and the speed, and judging whether the time is the same as the time of the pedestrian reaching the collision point;
s103: if the time reaching the collision point is the same, driving the pedestrian to transversely move and driving to the collision point;
s104: and in the whole transverse movement process of the pedestrian, calculating the time of the vehicle reaching the collision point according to the change of the speed of the vehicle, and further adjusting the speed of the pedestrian to enable the time error of the pedestrian and the vehicle reaching the collision point to be within a preset range.
Specifically, the time when the vehicle reaches the collision point in the above steps is calculated as follows:
wherein, tvehRefers to the time at which the vehicle reaches the point of impact; l isvehThe vehicle-mounted GPS signal transmitting module is used for transmitting a vehicle collision signal to a collision point; v. ofvehThe vehicle speed is changed in real time, and the vehicle is driven to the longitudinal distance of a collision point.
The time when the pedestrian reaches the collision point in the present invention is the same as the time when the vehicle reaches the collision point, for example, the speed v of the vehiclevehGenerally, the vehicle runs at a constant speed after reaching 16.67m/s60km/h, and the constant speed running is also fluctuated up and down within a certain range. The distance from the starting point to the collision point of the pedestrian is total X6 meters, wherein the front X1 is 1.5 meters and is the acceleration V of the pedestrian1The distance of 2.22m/s8km/h, the distance of the pedestrian with the speed adjusted in real time on the basis of 2.22m/s constant speed after the distance of X2-4.5 m, and the acceleration time of the pedestrian is calculated as follows:
ata＝2.22
wherein a denotes the acceleration of the pedestrian, taRefers to the acceleration time of the pedestrian.
The pedestrian adjusts the running time of the vehicle speed and calculates as follows:
wherein, tyRefers to the time of the pedestrian adjusting the speed at the next 4.5 meters, vpedRefers to the real-time speed of the pedestrian.
Here, it can be concluded that:
tveh＝ta+ty
the triggering condition for the pedestrian movement in S104 is described as follows:
the first 1.5 m is an acceleration stage, the last 4.5 m is a uniform speed transverse advancing stage, and the total time of the whole process is calculated as follows:
wherein, tstRefers to the time when the pedestrian starts to move, accelerates to 2.22m/s and then reaches the collision point at a constant speed. So when t isveh＝tstWhen the pedestrian starts moving laterally from rest.
Wherein v ispedThe real-time speed of the pedestrian at the constant speed stage is related to the real-time speed of the vehicle, and is calculated as follows:
wherein L ispedThe distance between the pedestrian and the collision point is calculated by the whole-course speed regulation control module when the pedestrian runs at a constant speed.
Based on the method, the accuracy of the pedestrian reaching the collision point is improved, the speed of the pedestrian in the constant-speed driving stage can be calculated and adjusted according to the real-time speed of the vehicle and the speed of the pedestrian, and the speed of the pedestrian is further calculated and adjusted in real time according to the speed of the vehicle so as to meet the test requirement.
The pedestrian speed control method and system for pedestrian testing provided by the invention are the units and algorithm steps of each example described in connection with the embodiments disclosed herein, and can be implemented by electronic hardware, computer software, or a combination of both, and in the above description, the components and steps of each example have been generally described in terms of functions in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
As will be appreciated by one skilled in the art, aspects of the pedestrian speed control method for pedestrian testing provided by the present invention may be embodied as a system, method or program product. Accordingly, various aspects of the present disclosure may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
The pedestrian speed control method for pedestrian testing provided by the invention can write program codes for executing the operation of the disclosure in any combination of one or more programming languages, including an object-oriented programming language such as Java, C + + or the like and a conventional procedural programming language such as "C" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A pedestrian speed control method for a pedestrian test, the method comprising:
the method comprises the following steps: acquiring the speed of a vehicle, the longitudinal distance from a collision point and the acquisition time;
step two: calculating the longitudinal distance between the vehicle and the pedestrian, calculating the time of the vehicle reaching the collision point according to the distance and the speed, and judging whether the time is the same as the time of the pedestrian reaching the collision point;
step three: if the time reaching the collision point is the same, driving the pedestrian to transversely move and driving to the collision point;
step four: and in the whole transverse movement process of the pedestrian, calculating the time of the vehicle reaching the collision point according to the change of the speed of the vehicle, and further adjusting the speed of the pedestrian to enable the time error of the pedestrian and the vehicle reaching the collision point to be within a preset range.
2. The pedestrian speed control method for pedestrian testing according to claim 1,
the time for the vehicle to reach the collision point is calculated as follows:
wherein the content of the first and second substances,
tvehrefers to the time at which the vehicle reaches the point of impact;
Lvehrefers to the longitudinal distance of the vehicle to the point of impact;
vvehrefers to the longitudinal distance of the vehicle to the collision point.
3. The pedestrian speed control method for pedestrian testing according to claim 1,
in the method, the pedestrian acceleration time is calculated as follows:
the time when the pedestrian reaches the collision point is the same as the time when the vehicle reaches the collision point, and the speed v of the vehiclevehThe distance from the starting point to the collision point of the pedestrian is X meters in total, wherein the front X1 meters is the acceleration V of the pedestrian1Distance of m/s, the rear X2 m is the pedestrian at V1The distance of the speed and the acceleration time of the pedestrian are adjusted in real time on the basis of the uniform speed of m/s, and the calculation is as follows:
ata＝V1
X＝X1+X2
wherein a denotes the acceleration of the pedestrian, taRefers to the acceleration time of the pedestrian.
4. The pedestrian speed control method for pedestrian testing according to claim 3,
in the method, the pedestrian adjusts the running time of the vehicle speed and calculates as follows:
wherein, tyTime of speed regulation, v, for pedestrianspedRefers to the real-time speed of the pedestrian.
5. The pedestrian speed control method for pedestrian testing according to claim 4,
time t for vehicle to reach collision pointvehThe calculation method is as follows:
tveh＝ta+ty。
6. the pedestrian speed control method for pedestrian testing according to claim 4,
the front X1 m is an acceleration stage, the rear X2 m is a uniform speed transverse advancing stage, and the total time of the whole process is calculated as follows:
wherein, tstMeans that the pedestrian starts to move and accelerate to V1m/s, and then the time of reaching the collision point at a constant speed; when t isveh＝tstWhen the pedestrian starts moving laterally from rest.
7. The pedestrian speed control method for pedestrian testing according to claim 6,
vpedthe pedestrian real-time speed is calculated as follows:
wherein L ispedThe distance between the pedestrian and the collision point is calculated by the pedestrian whole-course speed regulation control module when the pedestrian runs at a constant speed.
8. A pedestrian speed control system for a pedestrian test, characterized in that the system employs the pedestrian speed control method for a pedestrian test according to any one of claims 1 to 7;
the system comprises:
the pedestrian speed regulation control system comprises a pedestrian speed regulation control module (1), a vehicle-mounted GPS signal sending module (2), a pedestrian equipment GPS signal receiving module (3) and a pedestrian mobile motor control module (4);
the pedestrian speed regulation control module (1) and the pedestrian equipment GPS signal receiving module (3) are respectively connected with the pedestrian moving contact generator control module (4);
the vehicle-mounted GPS signal sending module (2) is connected with the pedestrian equipment GPS signal receiving module (3) through a wireless signal;
the vehicle-mounted GPS signal sending module (2) is used for obtaining the speed of a vehicle, the longitudinal distance from a collision point and the obtaining time and sending the speed, the longitudinal distance from the collision point to the pedestrian equipment GPS signal receiving module (3);
the pedestrian equipment GPS signal receiving module (3) receives the vehicle speed, the vehicle position and the acquisition time sent by the vehicle-mounted GPS signal sending module (2), and transmits the received data to the pedestrian whole-course speed adjusting control module (1);
the pedestrian speed regulation control module (1) calculates the longitudinal distance between the vehicle and the pedestrian, calculates the time of the vehicle reaching the collision point according to the distance and the speed, and judges whether the time is the same as the time of the pedestrian reaching the collision point;
if the time for reaching the collision point is the same, the pedestrian moving motor control module (4) drives the pedestrian to transversely move to drive to the collision point;
in the whole transverse moving process of the pedestrian, the pedestrian speed adjusting control module (1) calculates the time change of the vehicle reaching the collision point according to the speed change of the vehicle, and then adjusts the speed of the pedestrian, so that the time error of the pedestrian and the vehicle reaching the collision point is in a preset range.
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Cited By (1)
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| CN114459773A (en) * | 2022-01-29 | 2022-05-10 | 重庆长安汽车股份有限公司 | Test evaluation method and system for vehicle lateral collision avoidance |
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